diff --git a/1500case/dataset/di7_Place_objects_except_the_red_block_into_basket/meta/episodes_stats.jsonl b/1500case/dataset/di7_Place_objects_except_the_red_block_into_basket/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..22bfcd3ff559c53a5354461016b47ba2b6589d08
--- /dev/null
+++ b/1500case/dataset/di7_Place_objects_except_the_red_block_into_basket/meta/episodes_stats.jsonl
@@ -0,0 +1,100 @@
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diff --git a/1500case/dataset/di7_Place_objects_except_the_red_block_into_basket/meta/stats.json b/1500case/dataset/di7_Place_objects_except_the_red_block_into_basket/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0a78bbe7725ee532ba3f9e26cf17a03f99bc266
--- /dev/null
+++ b/1500case/dataset/di7_Place_objects_except_the_red_block_into_basket/meta/stats.json
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diff --git a/150case/cases/drawer_ep000001/inputs/case.json b/150case/cases/drawer_ep000001/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..b93cd939613fa2a6e55ad63c124836fab97ee978
--- /dev/null
+++ b/150case/cases/drawer_ep000001/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 1,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000001.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000001.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000001.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000001.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 1,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "037af07ef9aa338e67117a46c718fe30800d5919480e496652d70336faa6da54",
+  "source_rows": 828,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "bf46e02626bad417c9f02a1289522fc0491b851ae263391abd4ac65e6b9d124a"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000001/source_config.json b/150case/cases/drawer_ep000001/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..e185244f0eac0afb60f974644b1f28d559132cbf
--- /dev/null
+++ b/150case/cases/drawer_ep000001/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000001",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000001",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000001/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v64_geometry_fit_20260920/drawer/episode_000001/candidate_00/asset",
+  "engineered_task_asset_sha256": "bda27b8207a4c1381d7a56ea3b1bc021c9ca49b0425f09d97dcee7fc918af7c5",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000001/inputs/source_eef_ik/263f4bb97ced52b6a339/receipt.json",
+  "source_base_world_shift_m": {
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+  "source_precision": {
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+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v64_geometry_fit_20260920/drawer/episode_000001/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000003/asset/manifest.json b/150case/cases/drawer_ep000003/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe5595897ec85d0124814670299de4d5644db472
--- /dev/null
+++ b/150case/cases/drawer_ep000003/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_drawer_repair2",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "45ee3248d32c5c37a1827b39c57ffaf1660da883ce93cba94945b28ae0450bbb"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000003/inputs/case.json b/150case/cases/drawer_ep000003/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1e841c7b32dd80ec63a685db0246107071cd39c
--- /dev/null
+++ b/150case/cases/drawer_ep000003/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 3,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000003.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000003.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000003.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000003.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 3,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "2ced9d8f7a010668a52b81ab0cabea3db372d8002f8f77ff00eb7327c17aa7a6",
+  "source_rows": 939,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "cd9fcd95d5f93ee1d5488154fe88084407417af33c076e3df2cd5b588ce6c0c8"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000003/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000003/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000003/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
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+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
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+    <default class="size2">
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+      <general forcerange="-142 142" />
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+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
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+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
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+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
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+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
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+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
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+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
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+                            <site name="force_torque_sensor_left" />
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+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
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+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
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+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
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+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
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+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
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+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
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+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000003/source_config.json b/150case/cases/drawer_ep000003/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7c995e7765fbf5521cf6917aa2b4efe15035c96
--- /dev/null
+++ b/150case/cases/drawer_ep000003/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000003",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000003",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000003/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_drawer_contact_fit_full_20260920/episode_000003/candidate_008/asset",
+  "engineered_task_asset_sha256": "01d3ef06675196382a4e3aaf6f0627bb6a2b7386799dc3ae058519fa0dfe5dcb",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000003/inputs/source_eef_ik/1e490c807b39bbfb4b40/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_precision_refit_20260920/drawer/episode_000003/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000003/source_scene.json b/150case/cases/drawer_ep000003/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..dca8e9a6fdaa179edfd4b2cb09129ba39e80e27d
--- /dev/null
+++ b/150case/cases/drawer_ep000003/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.21560557761787283,
+        -0.9802644135835789,
+        1.0429911035902573
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5763630692771207
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        -0.21560557761787283,
+        -0.9502644135835789,
+        0.9758726382288174
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.18
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.21560557761787283,
+        -0.8252644135835789,
+        0.9411726382288175
+      ],
+      "size_m": [
+        0.13,
+        0.034,
+        0.034
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.27060557761787285,
+        -0.837264413583579,
+        0.9411726382288175
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.16060557761787284,
+        -0.837264413583579,
+        0.9411726382288175
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.21560557761787283,
+        -0.833264413583579,
+        1.1058726382288175
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.21560557761787283,
+        -0.8122644135835789,
+        1.1058726382288175
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.21560557761787283,
+        -0.833264413583579,
+        1.2358726382288174
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.21560557761787283,
+        -0.8122644135835789,
+        1.2358726382288174
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        0.17713333893007038,
+        -0.7535050826548748,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.4681541758639867,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000006/asset/definition.json b/150case/cases/drawer_ep000006/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6b619bf1e5b9383509c823f50969fef74fab256
--- /dev/null
+++ b/150case/cases/drawer_ep000006/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.21240413504946778,
+          -0.9899998467264504,
+          1.0419000364845599
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5832000729691196
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          -0.21240413504946778,
+          -0.9599998467264504,
+          0.9782000729691193
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.2
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.21240413504946778,
+          -0.8349998467264504,
+          0.9435000729691193
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2674041350494678,
+          -0.8469998467264505,
+          0.9435000729691193
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.1574041350494678,
+          -0.8469998467264505,
+          0.9435000729691193
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.21240413504946778,
+          -0.8429998467264505,
+          1.1082000729691193
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.21240413504946778,
+          -0.8219998467264504,
+          1.1082000729691193
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.21240413504946778,
+          -0.8429998467264505,
+          1.2382000729691192
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.21240413504946778,
+          -0.8219998467264504,
+          1.2382000729691192
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          0.33889936146197774,
+          -0.809945957562035,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.423782294077801,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "right",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000006/asset/manifest.json b/150case/cases/drawer_ep000006/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..93aa48c21095c56579fd9c50f0e41ed7af0cfc3c
--- /dev/null
+++ b/150case/cases/drawer_ep000006/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_episode_candidate",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "aa6b6685c3716032cebfdb5ed2ba339f1d62523f2a4d9fed44bd86914cb9f1ce"
+  },
+  "status": "physical_candidate",
+  "source_action_immutable": true
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000006/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000006/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000006/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
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+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000006/source_config.json b/150case/cases/drawer_ep000006/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6bc2e79ef57da48b6e550739544d23b30f72ccf
--- /dev/null
+++ b/150case/cases/drawer_ep000006/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000006",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000006",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000006/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000006/candidate_07/asset",
+  "engineered_task_asset_sha256": "281a3804f7d9c73989ede4c6f4c78dad48158a7512701b8fb2475987d53203c6",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000006/inputs/source_eef_ik/bebe2eceaca829f8f6ae/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000006/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000006/source_eef_receipt.json b/150case/cases/drawer_ep000006/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..f32dcf7ec6033d9784846d3454b60d959c5e51bb
--- /dev/null
+++ b/150case/cases/drawer_ep000006/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "e4d851990062c9744b8342b09d4a8d19789baca4614188a544878075949f4e3e",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 0.03805809662471052,
+      "orientation_error_max_rad": 0.5779657851818683,
+      "position_error_p95_m": 5.9173529693144e-06,
+      "max_joint_step_rad": 2.018811625076939
+    },
+    "right": {
+      "position_error_max_m": 1.9941043637578852e-05,
+      "orientation_error_max_rad": 0.00015961990634213663,
+      "position_error_p95_m": 1.2458976978229392e-05,
+      "max_joint_step_rad": 0.15731313382872125
+    }
+  },
+  "wall_s": 0.7446706150658429,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000006/source_reference/scene.xml b/150case/cases/drawer_ep000006/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4b2781364f1f508495734a1129debc045bec98a3
--- /dev/null
+++ b/150case/cases/drawer_ep000006/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="-0.212404135049 -0.989999846726 1.04190003648" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.285600036485" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xplus" type="box" size="0.006 0.14 0.291600036485" pos="0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xminus" type="box" size="0.006 0.14 0.291600036485" pos="-0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_back" type="box" size="0.263 0.006 0.291600036485" pos="0.0 -0.134 0.0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_top" type="box" size="0.275 0.14 0.006" pos="0 0 0.285600036485" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <body name="bottom_drawer" pos="0 0.03 -0.0636999635154" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.2" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0663000364846" quat="1 0 0 0">
+        <geom name="middle_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="middle_handle" pos="0 0.168 0.0663000364846" quat="1 0 0 0">
+        <geom name="middle_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+      <body name="top_drawer_front" pos="0 0.147 0.196300036485" quat="1 0 0 0">
+        <geom name="top_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="top_handle" pos="0 0.168 0.196300036485" quat="1 0 0 0">
+        <geom name="top_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+    </body>
+    <body name="red_block" pos="0.338899361462 -0.809945957562 0.7753" quat="-0.351249383567 0 0 0.936281939665">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000006/source_scene.json b/150case/cases/drawer_ep000006/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..18c179f1dc15e4c4de817efb3f6bc018d950a58e
--- /dev/null
+++ b/150case/cases/drawer_ep000006/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.21240413504946778,
+        -0.9899998467264504,
+        1.0419000364845599
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5832000729691196
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        -0.21240413504946778,
+        -0.9599998467264504,
+        0.9782000729691193
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.2
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.21240413504946778,
+        -0.8349998467264504,
+        0.9435000729691193
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2674041350494678,
+        -0.8469998467264505,
+        0.9435000729691193
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.1574041350494678,
+        -0.8469998467264505,
+        0.9435000729691193
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.21240413504946778,
+        -0.8429998467264505,
+        1.1082000729691193
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.21240413504946778,
+        -0.8219998467264504,
+        1.1082000729691193
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.21240413504946778,
+        -0.8429998467264505,
+        1.2382000729691192
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.21240413504946778,
+        -0.8219998467264504,
+        1.2382000729691192
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        0.33889936146197774,
+        -0.809945957562035,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.423782294077801,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000010/inputs/case.json b/150case/cases/drawer_ep000010/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a922be25f61fa15bb501a1473a3b90a20064da6
--- /dev/null
+++ b/150case/cases/drawer_ep000010/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 10,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000010.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000010.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000010.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000010.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 10,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "6f2f46859476138af05644681dc41fc65efa99de87d6a0cf5cee7d0e75abea49",
+  "source_rows": 937,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "9a84ccf698a0a85f0af8507a862bea55f7a34d96a89a2d33499ae6c2e3ec9ddc"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000010/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000010/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000010/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
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+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000010/source_config.json b/150case/cases/drawer_ep000010/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..38d02ee79b42bb618073b78f020a8b8e4ec1bf76
--- /dev/null
+++ b/150case/cases/drawer_ep000010/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000010",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000010",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000010/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000010/candidate_000/asset",
+  "engineered_task_asset_sha256": "0096222820232a37635d43509a120adfa0748c50c201cd228a3a6689e2a3029a",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000010/inputs/source_eef_ik/995701ac14b2090149c9/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000010/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000016/asset/definition.json b/150case/cases/drawer_ep000016/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..92bb1594dfebb3c88e13ba0a9f4ccc6368b34285
--- /dev/null
+++ b/150case/cases/drawer_ep000016/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20549042285404182,
+          -0.9857986175025336,
+          1.03457791667898
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5785558333579595
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          -0.20549042285404182,
+          -0.9557986175025337,
+          0.9685558333579594
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.2
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20549042285404182,
+          -0.8307986175025337,
+          0.9338558333579594
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2604904228540418,
+          -0.8427986175025337,
+          0.9338558333579594
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.15049042285404182,
+          -0.8427986175025337,
+          0.9338558333579594
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20549042285404182,
+          -0.8387986175025337,
+          1.0985558333579597
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20549042285404182,
+          -0.8177986175025337,
+          1.0985558333579597
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20549042285404182,
+          -0.8387986175025337,
+          1.2285558333579596
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20549042285404182,
+          -0.8177986175025337,
+          1.2285558333579596
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          0.2740160708088584,
+          -0.7956472374529666,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.733887907973594,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "right",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000016/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000016/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000016/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
+        <inertial pos="-2.7619e-07 1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
+      </body>
+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
+        <inertial pos="0.0019998 -0.0070713 0.014539" quat="0.653281 0.270598 -0.653281 0.270598" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LR_Link" />
+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
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+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
+          <body name="astribot_torso_link_3" pos="-0.39 0 0" gravcomp="0" quat="0.98962549373999498 0 0 0.14367109013253554">
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+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_3" />
+            <body name="astribot_torso_link_4" pos="0 0 0" quat="0.49969040546151655 0.50030740665236773 -0.49969440546076005 -0.50030740419236785" gravcomp="0">
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+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_base_link" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000016/source_eef_receipt.json b/150case/cases/drawer_ep000016/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..af89e9591b2693a53280707c500a233be2f01857
--- /dev/null
+++ b/150case/cases/drawer_ep000016/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "af6c6a3ccfcc5fcd6f4d8baf6698bd17cf6c20775b3384a162da7f67228e0956",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.938730488847498e-05,
+      "orientation_error_max_rad": 0.00016345764513885335,
+      "position_error_p95_m": 4.744481522559521e-06,
+      "max_joint_step_rad": 0.13452214145071195
+    },
+    "right": {
+      "position_error_max_m": 0.037839116076061025,
+      "orientation_error_max_rad": 0.5712522641969823,
+      "position_error_p95_m": 1.4010487756339334e-05,
+      "max_joint_step_rad": 1.9188971977947784
+    }
+  },
+  "wall_s": 0.6944521889090538,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000016/source_reference/scene.xml b/150case/cases/drawer_ep000016/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..591b50ba1bfd7b497a6a55ad67403fdd886cc84f
--- /dev/null
+++ b/150case/cases/drawer_ep000016/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="-0.205490422854 -0.985798617503 1.03457791668" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.283277916679" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xplus" type="box" size="0.006 0.14 0.289277916679" pos="0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xminus" type="box" size="0.006 0.14 0.289277916679" pos="-0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_back" type="box" size="0.263 0.006 0.289277916679" pos="0.0 -0.134 0.0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_top" type="box" size="0.275 0.14 0.006" pos="0 0 0.283277916679" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <body name="bottom_drawer" pos="0 0.03 -0.066022083321" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.2" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.063977916679" quat="1 0 0 0">
+        <geom name="middle_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="middle_handle" pos="0 0.168 0.063977916679" quat="1 0 0 0">
+        <geom name="middle_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+      <body name="top_drawer_front" pos="0 0.147 0.193977916679" quat="1 0 0 0">
+        <geom name="top_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="top_handle" pos="0 0.168 0.193977916679" quat="1 0 0 0">
+        <geom name="top_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+    </body>
+    <body name="red_block" pos="0.274016070809 -0.795647237453 0.7753" quat="-0.647159356855 0 0 0.762354751303">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000019/asset/manifest.json b/150case/cases/drawer_ep000019/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..c45391d2438191bfe6bf04273ff6607f5543deb4
--- /dev/null
+++ b/150case/cases/drawer_ep000019/asset/manifest.json
@@ -0,0 +1,8 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v64_registration",
+  "files": {
+    "definition.json": "f6735b30f193adb346bfe7bee8625507e85f53de78af10660639b5a098c38b63"
+  },
+  "task_id": "dm6"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000019/inputs/case.json b/150case/cases/drawer_ep000019/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..efab05ebb3317d099a5fa37c0efe38c442d3afa4
--- /dev/null
+++ b/150case/cases/drawer_ep000019/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 19,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000019.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000019.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000019.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000019.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 19,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "fded9e36bd1d834e177dd8933d6df4f8a6ef6bd01e86c8cf041e4414fd9a78ab",
+  "source_rows": 1043,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "357e654814b84bcaf39f86a19a932a8b29e7eadc55d84034408f0030dda5a12e"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000019/source_config.json b/150case/cases/drawer_ep000019/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb3a9c49e00314a13bafd93f883f9ed217c89401
--- /dev/null
+++ b/150case/cases/drawer_ep000019/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000019",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000019",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000019/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v64_registration_fit_20260920/drawer/episode_000019/candidate_06/asset",
+  "engineered_task_asset_sha256": "3543065dbe8e8acfef4149d9803d6303022cc8b9e928e5601c8dd062bb618b8b",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000019/inputs/source_eef_ik/506a5fd8dc9127412676/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v64_registration_fit_20260920/drawer/episode_000019/candidate_06/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000019/source_reference/scene.xml b/150case/cases/drawer_ep000019/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6b8d79a1563afd4f716743fa565232e08808262e
--- /dev/null
+++ b/150case/cases/drawer_ep000019/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
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+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
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+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
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+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
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+                  </body>
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+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="-0.185881664362 -0.964362925699 1.04368354046" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.282383540464" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
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+      <geom name="drawer_cabinet_xminus" type="box" size="0.006 0.14 0.288383540464" pos="-0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_back" type="box" size="0.263 0.006 0.288383540464" pos="0.0 -0.134 0.0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_top" type="box" size="0.275 0.14 0.006" pos="0 0 0.282383540464" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <body name="bottom_drawer" pos="0 0.03 -0.0669164595363" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.2" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0630835404637" quat="1 0 0 0">
+        <geom name="middle_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="middle_handle" pos="0 0.168 0.0630835404637" quat="1 0 0 0">
+        <geom name="middle_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+      <body name="top_drawer_front" pos="0 0.147 0.193083540464" quat="1 0 0 0">
+        <geom name="top_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="top_handle" pos="0 0.168 0.193083540464" quat="1 0 0 0">
+        <geom name="top_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+    </body>
+    <body name="red_block" pos="0.354423494179 -0.839142880675 0.7753" quat="0.755354214687 0 0 -0.655316725221">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000019/source_scene.json b/150case/cases/drawer_ep000019/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..a300d96d99216cf8b201610069a29b91bd4be435
--- /dev/null
+++ b/150case/cases/drawer_ep000019/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.18588166436202114,
+        -0.9643629256987882,
+        1.043683540463704
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5767670809274081
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        -0.18588166436202114,
+        -0.9343629256987883,
+        0.9767670809274079
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.2
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.18588166436202114,
+        -0.8093629256987883,
+        0.942067080927408
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.24088166436202113,
+        -0.8213629256987883,
+        0.942067080927408
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.13088166436202114,
+        -0.8213629256987883,
+        0.942067080927408
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.18588166436202114,
+        -0.8173629256987883,
+        1.106767080927408
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.18588166436202114,
+        -0.7963629256987883,
+        1.106767080927408
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.18588166436202114,
+        -0.8173629256987883,
+        1.2367670809274078
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.18588166436202114,
+        -0.7963629256987883,
+        1.2367670809274078
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        0.3544234941788593,
+        -0.8391428806749676,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.429203702265314,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000020/asset/definition.json b/150case/cases/drawer_ep000020/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2c9de14711a8da7bf5450aa2c19a31cbe2ea4a2
--- /dev/null
+++ b/150case/cases/drawer_ep000020/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2156940070476099,
+          -0.984726644065364,
+          1.0352654577057108
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5799309154114214
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          -0.2156940070476099,
+          -0.9547266440653641,
+          0.9699309154114212
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.2
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2156940070476099,
+          -0.8297266440653641,
+          0.9352309154114212
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.27069400704760993,
+          -0.8417266440653641,
+          0.9352309154114212
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.16069400704760992,
+          -0.8417266440653641,
+          0.9352309154114212
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2156940070476099,
+          -0.8377266440653641,
+          1.0999309154114214
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2156940070476099,
+          -0.8167266440653641,
+          1.0999309154114214
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2156940070476099,
+          -0.8377266440653641,
+          1.2299309154114213
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2156940070476099,
+          -0.8167266440653641,
+          1.2299309154114213
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          0.35968447296592004,
+          -0.8579823101288572,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.242028608263584,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "right",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000020/asset/manifest.json b/150case/cases/drawer_ep000020/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..54bf0fbc7139003d127507e1f87f15e0ba330774
--- /dev/null
+++ b/150case/cases/drawer_ep000020/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_episode_candidate",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "692b55f5087400bbde041964fa6d27de83876003fbd2425b9c064240dca13dd0"
+  },
+  "status": "physical_candidate",
+  "source_action_immutable": true
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000020/source_eef_receipt.json b/150case/cases/drawer_ep000020/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..01e29e7683530eba45591805f3503634268b4d00
--- /dev/null
+++ b/150case/cases/drawer_ep000020/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "5953df00d65cb773ef32c0102d27eeaa47f16c08e2ff10b59e3ec959f591b826",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
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+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
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+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
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+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.991193209273304e-05,
+      "orientation_error_max_rad": 0.00015385741107128972,
+      "position_error_p95_m": 4.833165515703494e-06,
+      "max_joint_step_rad": 0.08517685839913258
+    },
+    "right": {
+      "position_error_max_m": 0.017349190027675033,
+      "orientation_error_max_rad": 0.243671263175552,
+      "position_error_p95_m": 1.3013343607859844e-05,
+      "max_joint_step_rad": 2.0478490647429184
+    }
+  },
+  "wall_s": 0.4952270220965147,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000020/source_reference/scene.xml b/150case/cases/drawer_ep000020/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5f1884ec0d9906f0c7e62224538b9f2ef60805bd
--- /dev/null
+++ b/150case/cases/drawer_ep000020/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
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+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
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+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
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+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="-0.215694007048 -0.984726644065 1.03526545771" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.283965457706" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xplus" type="box" size="0.006 0.14 0.289965457706" pos="0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xminus" type="box" size="0.006 0.14 0.289965457706" pos="-0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_back" type="box" size="0.263 0.006 0.289965457706" pos="0.0 -0.134 0.0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_top" type="box" size="0.275 0.14 0.006" pos="0 0 0.283965457706" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <body name="bottom_drawer" pos="0 0.03 -0.0653345422943" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.2" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0646654577057" quat="1 0 0 0">
+        <geom name="middle_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="middle_handle" pos="0 0.168 0.0646654577057" quat="1 0 0 0">
+        <geom name="middle_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+      <body name="top_drawer_front" pos="0 0.147 0.194665457706" quat="1 0 0 0">
+        <geom name="top_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="top_handle" pos="0 0.168 0.194665457706" quat="1 0 0 0">
+        <geom name="top_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+    </body>
+    <body name="red_block" pos="0.359684472966 -0.857982310129 0.7753" quat="-0.434769246718 0 0 0.900541893589">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000020/source_scene.json b/150case/cases/drawer_ep000020/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..fef8cc92ea3c0bb34395ddda3af310cce5367096
--- /dev/null
+++ b/150case/cases/drawer_ep000020/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2156940070476099,
+        -0.984726644065364,
+        1.0352654577057108
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5799309154114214
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        -0.2156940070476099,
+        -0.9547266440653641,
+        0.9699309154114212
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.2
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2156940070476099,
+        -0.8297266440653641,
+        0.9352309154114212
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.27069400704760993,
+        -0.8417266440653641,
+        0.9352309154114212
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.16069400704760992,
+        -0.8417266440653641,
+        0.9352309154114212
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2156940070476099,
+        -0.8377266440653641,
+        1.0999309154114214
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2156940070476099,
+        -0.8167266440653641,
+        1.0999309154114214
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2156940070476099,
+        -0.8377266440653641,
+        1.2299309154114213
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2156940070476099,
+        -0.8167266440653641,
+        1.2299309154114213
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        0.35968447296592004,
+        -0.8579823101288572,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.242028608263584,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000028/asset/definition.json b/150case/cases/drawer_ep000028/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..1148ea23c4c1730dae9ad027755bcf3c551268bd
--- /dev/null
+++ b/150case/cases/drawer_ep000028/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17411305511111252,
+          -1.0266201569595286,
+          1.044142348017501
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5876846960350022
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          0.17411305511111252,
+          -0.9966201569595287,
+          0.982684696035002
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.18
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17411305511111252,
+          -0.8716201569595287,
+          0.947984696035002
+        ],
+        "size_m": [
+          0.13,
+          0.026,
+          0.026
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.11911305511111253,
+          -0.8836201569595287,
+          0.947984696035002
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.22911305511111252,
+          -0.8836201569595287,
+          0.947984696035002
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17411305511111252,
+          -0.8796201569595287,
+          1.112684696035002
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17411305511111252,
+          -0.8586201569595286,
+          1.112684696035002
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17411305511111252,
+          -0.8796201569595287,
+          1.242684696035002
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17411305511111252,
+          -0.8586201569595286,
+          1.242684696035002
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          -0.16260648334355726,
+          -0.7302456554142779,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.3325769100513545,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "left",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "right",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000028/asset/manifest.json b/150case/cases/drawer_ep000028/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bfac14197dc76736f7b0aba07835d85c91d49f6
--- /dev/null
+++ b/150case/cases/drawer_ep000028/asset/manifest.json
@@ -0,0 +1,8 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v64_registration",
+  "files": {
+    "definition.json": "2fcb272d74820fd2c395a86891eea39cd0791e90cecd9e575d734ed69f86f20f"
+  },
+  "task_id": "dm6"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000028/inputs/case.json b/150case/cases/drawer_ep000028/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..93072243950b555f7106209e2de9503e0e642020
--- /dev/null
+++ b/150case/cases/drawer_ep000028/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 28,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000028.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000028.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000028.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000028.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 28,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "85e637a02e8e76d96cea8a30296c1ab4f57f852c21f376b19a09d1eccb511b77",
+  "source_rows": 594,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "726dea46d5b4a66e085aac98ff8f288a799770c3f840c4d2131e4ea3d4ac9813"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000028/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000028/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000028/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
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+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
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+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
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+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
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+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
+          <inertial pos="-0.23187 0.033333 0" quat="0.0851505 0.715372 -0.0840248 0.688427" mass="5.6183" diaginertia="0.0175257 0.0129591 0.00795872" />
+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
+          <body name="astribot_torso_link_3" pos="-0.39 0 0" gravcomp="0" quat="0.98962549373999498 0 0 0.14367109013253554">
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+            <body name="astribot_torso_link_4" pos="0 0 0" quat="0.49969040546151655 0.50030740665236773 -0.49969440546076005 -0.50030740419236785" gravcomp="0">
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+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
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+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000028/source_config.json b/150case/cases/drawer_ep000028/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bb81e2316c2cbfd54feeaa90e13dce026a135a9
--- /dev/null
+++ b/150case/cases/drawer_ep000028/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000028",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000028",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000028/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v64_registration_fit_20260920/drawer/episode_000028/candidate_02/asset",
+  "engineered_task_asset_sha256": "fb6dfa1b1d51b1746f9893bf89662b60ff69130d86707bf3ca8e5fae91ff3b9d",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000028/inputs/source_eef_ik/ffa514c4c10892520ff7/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.033977763253425684
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v64_registration_fit_20260920/drawer/episode_000028/candidate_02/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000028/source_eef_receipt.json b/150case/cases/drawer_ep000028/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..67c16b0c8af0dbd342c4ed925adf170fb1905cb2
--- /dev/null
+++ b/150case/cases/drawer_ep000028/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "85e637a02e8e76d96cea8a30296c1ab4f57f852c21f376b19a09d1eccb511b77",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9987829643805408e-05,
+      "orientation_error_max_rad": 0.00016446974156360906,
+      "position_error_p95_m": 1.3844184728215455e-05,
+      "max_joint_step_rad": 0.4208266119272023
+    },
+    "right": {
+      "position_error_max_m": 1.9365117008617186e-05,
+      "orientation_error_max_rad": 8.260882679940691e-05,
+      "position_error_p95_m": 1.6323300342666681e-06,
+      "max_joint_step_rad": 0.0832636945088518
+    }
+  },
+  "wall_s": 0.4853341761045158,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000028/source_reference/scene.xml b/150case/cases/drawer_ep000028/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..97172185a64131438f488c1618c6efd2469f61e1
--- /dev/null
+++ b/150case/cases/drawer_ep000028/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.750760249" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="0.174113055111 -1.02662015696 1.04414234802" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.287842348018" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xplus" type="box" size="0.006 0.14 0.293842348018" pos="0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xminus" type="box" size="0.006 0.14 0.293842348018" pos="-0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_back" type="box" size="0.263 0.006 0.293842348018" pos="0.0 -0.134 0.0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_top" type="box" size="0.275 0.14 0.006" pos="0 0 0.287842348018" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <body name="bottom_drawer" pos="0 0.03 -0.0614576519825" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.18" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.013 0.013" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0685423480175" quat="1 0 0 0">
+        <geom name="middle_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="middle_handle" pos="0 0.168 0.0685423480175" quat="1 0 0 0">
+        <geom name="middle_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+      <body name="top_drawer_front" pos="0 0.147 0.198542348018" quat="1 0 0 0">
+        <geom name="top_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="top_handle" pos="0 0.168 0.198542348018" quat="1 0 0 0">
+        <geom name="top_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+    </body>
+    <body name="red_block" pos="-0.162606483344 -0.730245655414 0.7753" quat="0.786121079221 0 0 -0.618072527139">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000028/source_scene.json b/150case/cases/drawer_ep000028/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..590ac63c6e78a9a7c41903056febe12e4acf477e
--- /dev/null
+++ b/150case/cases/drawer_ep000028/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17411305511111252,
+        -1.0266201569595286,
+        1.044142348017501
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5876846960350022
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        0.17411305511111252,
+        -0.9966201569595287,
+        0.982684696035002
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.18
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17411305511111252,
+        -0.8716201569595287,
+        0.947984696035002
+      ],
+      "size_m": [
+        0.13,
+        0.026,
+        0.026
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.11911305511111253,
+        -0.8836201569595287,
+        0.947984696035002
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.22911305511111252,
+        -0.8836201569595287,
+        0.947984696035002
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17411305511111252,
+        -0.8796201569595287,
+        1.112684696035002
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17411305511111252,
+        -0.8586201569595286,
+        1.112684696035002
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17411305511111252,
+        -0.8796201569595287,
+        1.242684696035002
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17411305511111252,
+        -0.8586201569595286,
+        1.242684696035002
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        -0.16260648334355726,
+        -0.7302456554142779,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.3325769100513545,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000030/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000030/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000030/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
+        <inertial pos="-2.7619e-07 1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
+      </body>
+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
+        <inertial pos="0.0019998 -0.0070713 0.014539" quat="0.653281 0.270598 -0.653281 0.270598" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LR_Link" />
+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
+          <inertial pos="-0.23187 0.033333 0" quat="0.0851505 0.715372 -0.0840248 0.688427" mass="5.6183" diaginertia="0.0175257 0.0129591 0.00795872" />
+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
+          <body name="astribot_torso_link_3" pos="-0.39 0 0" gravcomp="0" quat="0.98962549373999498 0 0 0.14367109013253554">
+            <inertial pos="0.133333 -0.086872 0" quat="0.00834705 0.708024 0.00970003 0.706073" mass="0.49013" diaginertia="0.000380401 0.000365211 0.000222118" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_3" />
+            <body name="astribot_torso_link_4" pos="0 0 0" quat="0.49969040546151655 0.50030740665236773 -0.49969440546076005 -0.50030740419236785" gravcomp="0">
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+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_base_link" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000030/source_eef_receipt.json b/150case/cases/drawer_ep000030/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dede00a70be2a38d75173e33504465b64b83920
--- /dev/null
+++ b/150case/cases/drawer_ep000030/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "b8d84e2c7fa035d11162858216f9f9d9bff450e129e52ee9503146b44acb3f0a",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9542601389948423e-05,
+      "orientation_error_max_rad": 0.00016523298244032895,
+      "position_error_p95_m": 1.2099078885448675e-05,
+      "max_joint_step_rad": 0.21543267795905602
+    },
+    "right": {
+      "position_error_max_m": 1.9309945322672725e-05,
+      "orientation_error_max_rad": 6.40675710593144e-05,
+      "position_error_p95_m": 1.1116436407210453e-06,
+      "max_joint_step_rad": 0.08865455799596511
+    }
+  },
+  "wall_s": 0.44333764305338264,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000030/source_reference/scene.xml b/150case/cases/drawer_ep000030/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0bdcd85bcc0b7749aa9e535afde4cd325b1e47b6
--- /dev/null
+++ b/150case/cases/drawer_ep000030/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="0.158617010226 -1.00860802906 1.04378430576" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.287484305756" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xplus" type="box" size="0.006 0.14 0.293484305756" pos="0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xminus" type="box" size="0.006 0.14 0.293484305756" pos="-0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_back" type="box" size="0.263 0.006 0.293484305756" pos="0.0 -0.134 0.0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_top" type="box" size="0.275 0.14 0.006" pos="0 0 0.287484305756" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <body name="bottom_drawer" pos="0 0.03 -0.0618156942441" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.18" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0681843057559" quat="1 0 0 0">
+        <geom name="middle_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="middle_handle" pos="0 0.168 0.0681843057559" quat="1 0 0 0">
+        <geom name="middle_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+      <body name="top_drawer_front" pos="0 0.147 0.198184305756" quat="1 0 0 0">
+        <geom name="top_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="top_handle" pos="0 0.168 0.198184305756" quat="1 0 0 0">
+        <geom name="top_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+    </body>
+    <body name="red_block" pos="-0.356373353987 -0.79372059874 0.7753" quat="-0.687223420213 0 0 0.726446123749">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000033/asset/definition.json b/150case/cases/drawer_ep000033/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef2e32687c57e081a1d7577f71e72058933e392a
--- /dev/null
+++ b/150case/cases/drawer_ep000033/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15992815842756264,
+          -1.011233098956272,
+          1.044863825324287
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5891276506485743
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          0.15992815842756264,
+          -0.9812330989562719,
+          0.984127650648574
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.18
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15992815842756264,
+          -0.8562330989562719,
+          0.949427650648574
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.10492815842756265,
+          -0.8682330989562719,
+          0.949427650648574
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.21492815842756263,
+          -0.8682330989562719,
+          0.949427650648574
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15992815842756264,
+          -0.8642330989562719,
+          1.114127650648574
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15992815842756264,
+          -0.8432330989562719,
+          1.114127650648574
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15992815842756264,
+          -0.8642330989562719,
+          1.244127650648574
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15992815842756264,
+          -0.8432330989562719,
+          1.244127650648574
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          -0.3120002821619791,
+          -0.7832958522322628,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.5881801218599627,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "left",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "right",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000033/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000033/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000033/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
+        <inertial pos="-2.7619e-07 1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
+      </body>
+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
+        <inertial pos="0.0019998 -0.0070713 0.014539" quat="0.653281 0.270598 -0.653281 0.270598" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LR_Link" />
+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
+          <inertial pos="-0.23187 0.033333 0" quat="0.0851505 0.715372 -0.0840248 0.688427" mass="5.6183" diaginertia="0.0175257 0.0129591 0.00795872" />
+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
+          <body name="astribot_torso_link_3" pos="-0.39 0 0" gravcomp="0" quat="0.98962549373999498 0 0 0.14367109013253554">
+            <inertial pos="0.133333 -0.086872 0" quat="0.00834705 0.708024 0.00970003 0.706073" mass="0.49013" diaginertia="0.000380401 0.000365211 0.000222118" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_3" />
+            <body name="astribot_torso_link_4" pos="0 0 0" quat="0.49969040546151655 0.50030740665236773 -0.49969440546076005 -0.50030740419236785" gravcomp="0">
+              <inertial pos="0.00476227 -4.56967e-05 0.242913" quat="0.999954 7.7949e-05 0.00906445 -0.00297427" mass="11.7741" diaginertia="0.0165787 0.0149043 0.0110611" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_base_link" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000033/source_eef_receipt.json b/150case/cases/drawer_ep000033/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..94cb24380997a544972840f78a3d158ef1a34abb
--- /dev/null
+++ b/150case/cases/drawer_ep000033/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "3a5750240ab0c76778ffcc3a5bc7e6a144c6f0a2c388af1ab1e75fb3416e7db3",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9964454445152913e-05,
+      "orientation_error_max_rad": 0.00016510388502306272,
+      "position_error_p95_m": 1.3602040383359645e-05,
+      "max_joint_step_rad": 1.328077763687882
+    },
+    "right": {
+      "position_error_max_m": 1.9373289961181204e-05,
+      "orientation_error_max_rad": 0.00013484507139555722,
+      "position_error_p95_m": 8.086439084724585e-06,
+      "max_joint_step_rad": 1.6616046909155389
+    }
+  },
+  "wall_s": 0.44979413598775864,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000033/source_reference/scene.xml b/150case/cases/drawer_ep000033/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..37cc991a726a846a6b640233bbcde0dc7627240c
--- /dev/null
+++ b/150case/cases/drawer_ep000033/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="0.159928158428 -1.01123309896 1.04486382532" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.288563825324" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xplus" type="box" size="0.006 0.14 0.294563825324" pos="0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xminus" type="box" size="0.006 0.14 0.294563825324" pos="-0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_back" type="box" size="0.263 0.006 0.294563825324" pos="0.0 -0.134 0.0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_top" type="box" size="0.275 0.14 0.006" pos="0 0 0.288563825324" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <body name="bottom_drawer" pos="0 0.03 -0.0607361746757" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.18" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0692638253243" quat="1 0 0 0">
+        <geom name="middle_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="middle_handle" pos="0 0.168 0.0692638253243" quat="1 0 0 0">
+        <geom name="middle_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+      <body name="top_drawer_front" pos="0 0.147 0.199263825324" quat="1 0 0 0">
+        <geom name="top_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="top_handle" pos="0 0.168 0.199263825324" quat="1 0 0 0">
+        <geom name="top_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+    </body>
+    <body name="red_block" pos="-0.312000282162 -0.783295852232 0.7753" quat="-0.700934048422 0 0 0.713226093019">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000038/asset/definition.json b/150case/cases/drawer_ep000038/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..26c2753a4e2a28f0da7bf3508a16a9ed609e5d27
--- /dev/null
+++ b/150case/cases/drawer_ep000038/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17434648784177637,
+          -1.0242162080469082,
+          1.0479643933302918
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5953287866605839
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          0.17434648784177637,
+          -0.9942162080469082,
+          0.9903287866605835
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.18
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17434648784177637,
+          -0.8692162080469082,
+          0.9556287866605836
+        ],
+        "size_m": [
+          0.13,
+          0.026,
+          0.026
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.11934648784177637,
+          -0.8812162080469083,
+          0.9556287866605836
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.22934648784177636,
+          -0.8812162080469083,
+          0.9556287866605836
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17434648784177637,
+          -0.8772162080469083,
+          1.1203287866605838
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17434648784177637,
+          -0.8562162080469082,
+          1.1203287866605838
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17434648784177637,
+          -0.8772162080469083,
+          1.2503287866605837
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17434648784177637,
+          -0.8562162080469082,
+          1.2503287866605837
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          -0.17369023110804924,
+          -0.7212182044215725,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.3132151844312103,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "left",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "right",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000038/asset/manifest.json b/150case/cases/drawer_ep000038/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..c766f3aa742a934ed2c34e41874fe2d679aa66a5
--- /dev/null
+++ b/150case/cases/drawer_ep000038/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "50085d2268347b302801af3470eca8ce7a5549a58e9b96d1697720766d09cdd2"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "left",
+    "block_hand": "right",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.29286560578012544,
+    "cycles": {
+      "left": 2,
+      "right": 1
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000038/inputs/case.json b/150case/cases/drawer_ep000038/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..34df24dfa80c4797ce60db3c9d838b80a87cbb52
--- /dev/null
+++ b/150case/cases/drawer_ep000038/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 38,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000038.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000038.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000038.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000038.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 38,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "98c6e2e28ede511a1914ac30a37fee8c8dcfa08b527d473c270433e7f2559523",
+  "source_rows": 536,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "36b849c2d41c175ece7b48c5daefe194c8c1ab1837b79d98f6e8d182d8753b91"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000038/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000038/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000038/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
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+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
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+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
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+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
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+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LR_Link" />
+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
+          <inertial pos="-0.23187 0.033333 0" quat="0.0851505 0.715372 -0.0840248 0.688427" mass="5.6183" diaginertia="0.0175257 0.0129591 0.00795872" />
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+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
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+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
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+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000038/source_config.json b/150case/cases/drawer_ep000038/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9bab77cb2ee7569a7b9fbf42f105fd8ecf7217f
--- /dev/null
+++ b/150case/cases/drawer_ep000038/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000038",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000038",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000038/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000038/candidate_005/asset",
+  "engineered_task_asset_sha256": "657b2d98c6ac6395527c6c8e4207d37201be555ea58358c32c72cdfc74bd2a8c",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000038/inputs/source_eef_ik/75264234153c582d1e81/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000038/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000038/source_reference/scene.xml b/150case/cases/drawer_ep000038/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a0e0973cf7b0d11790ba8e76911fecbab4f37986
--- /dev/null
+++ b/150case/cases/drawer_ep000038/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
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+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="0.174346487842 -1.02421620805 1.04796439333" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.29166439333" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xplus" type="box" size="0.006 0.14 0.29766439333" pos="0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xminus" type="box" size="0.006 0.14 0.29766439333" pos="-0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_back" type="box" size="0.263 0.006 0.29766439333" pos="0.0 -0.134 0.0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_top" type="box" size="0.275 0.14 0.006" pos="0 0 0.29166439333" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <body name="bottom_drawer" pos="0 0.03 -0.0576356066697" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.18" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.013 0.013" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0723643933303" quat="1 0 0 0">
+        <geom name="middle_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="middle_handle" pos="0 0.168 0.0723643933303" quat="1 0 0 0">
+        <geom name="middle_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+      <body name="top_drawer_front" pos="0 0.147 0.20236439333" quat="1 0 0 0">
+        <geom name="top_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="top_handle" pos="0 0.168 0.20236439333" quat="1 0 0 0">
+        <geom name="top_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+    </body>
+    <body name="red_block" pos="-0.173690231108 -0.721218204422 0.7753" quat="0.792067624108 0 0 -0.610433353315">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000038/source_scene.json b/150case/cases/drawer_ep000038/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7e1005be7b57cf9ad8252c0c4ebaff6fd0a7f14
--- /dev/null
+++ b/150case/cases/drawer_ep000038/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17434648784177637,
+        -1.0242162080469082,
+        1.0479643933302918
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5953287866605839
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        0.17434648784177637,
+        -0.9942162080469082,
+        0.9903287866605835
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.18
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17434648784177637,
+        -0.8692162080469082,
+        0.9556287866605836
+      ],
+      "size_m": [
+        0.13,
+        0.026,
+        0.026
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.11934648784177637,
+        -0.8812162080469083,
+        0.9556287866605836
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.22934648784177636,
+        -0.8812162080469083,
+        0.9556287866605836
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17434648784177637,
+        -0.8772162080469083,
+        1.1203287866605838
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17434648784177637,
+        -0.8562162080469082,
+        1.1203287866605838
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17434648784177637,
+        -0.8772162080469083,
+        1.2503287866605837
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17434648784177637,
+        -0.8562162080469082,
+        1.2503287866605837
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        -0.17369023110804924,
+        -0.7212182044215725,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.3132151844312103,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000039/source_config.json b/150case/cases/drawer_ep000039/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..10360ba964ccb569416e510ba78ad658930ca1e5
--- /dev/null
+++ b/150case/cases/drawer_ep000039/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000039",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000039",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000039/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000039/candidate_000/asset",
+  "engineered_task_asset_sha256": "2bbfebe9e4c4dee60421a85c4e9117c4776de38ab585015066d4c6426a952caa",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000039/inputs/source_eef_ik/328f51e0ff9a0c11551e/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
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+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000039/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000041/asset/definition.json b/150case/cases/drawer_ep000041/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..00311d6e13386d87dfaf0978de4473f6bbb2b330
--- /dev/null
+++ b/150case/cases/drawer_ep000041/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
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+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
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+          1.0460539866115797
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+        "rgba": [
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+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
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+          0.9865079732231589
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+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.2
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
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+        "rgba": [
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+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
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+          0.9518079732231589
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+        "yaw_rad": 0.0,
+        "rgba": [
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+          0.7,
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+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
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+          1.0
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+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.1563537159844549,
+          -0.8581422787907402,
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+        "rgba": [
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+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
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+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
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+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
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+          -0.8581422787907402,
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+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
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+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
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+          -0.8371422787907402,
+          1.2465079732231588
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+        "size_m": [
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+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          -0.2810169458377776,
+          -0.7688488373645574,
+          0.7753
+        ],
+        "size_m": [
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+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.229697090072532,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "left",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "right",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000041/asset/manifest.json b/150case/cases/drawer_ep000041/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..549b0f05d9469f26e6f36418cfe208b67c0d9800
--- /dev/null
+++ b/150case/cases/drawer_ep000041/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "4b26e09c7df7814800e45e066f9403e6a2c8fa0af02fdc4ffbd46696c5ec9c2b"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "left",
+    "block_hand": "right",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.30848236962025477,
+    "cycles": {
+      "left": 3,
+      "right": 1
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000041/inputs/case.json b/150case/cases/drawer_ep000041/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..289ccc3b79673ea2d4789d3057a64e6e5a451203
--- /dev/null
+++ b/150case/cases/drawer_ep000041/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 41,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000041.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000041.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000041.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000041.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 41,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "0ad95333950ed7c2a47f05151aa11551c1c9a587c1d13bd6fa48324174cce3a6",
+  "source_rows": 555,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "c0861d36708ec1749618d4de4d2dd77c81a7a420e924db3e24802ffb4b239a1c"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000041/source_eef_receipt.json b/150case/cases/drawer_ep000041/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..d629285413746da9ae7cd6a9e567e04de7684816
--- /dev/null
+++ b/150case/cases/drawer_ep000041/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
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+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 0.03387725267850011,
+      "orientation_error_max_rad": 0.2845376854748739,
+      "position_error_p95_m": 1.2618289411642296e-05,
+      "max_joint_step_rad": 1.9826038656528653
+    },
+    "right": {
+      "position_error_max_m": 1.978208955778772e-05,
+      "orientation_error_max_rad": 0.00011586549326954849,
+      "position_error_p95_m": 5.854258897248097e-06,
+      "max_joint_step_rad": 0.07835280709420323
+    }
+  },
+  "wall_s": 0.4434544797986746,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000041/source_reference/scene.xml b/150case/cases/drawer_ep000041/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d338d77322aff98630ea7701eea6d81431a155f7
--- /dev/null
+++ b/150case/cases/drawer_ep000041/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="0.156353715984 -1.00514227879 1.04605398661" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.289753986612" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xplus" type="box" size="0.006 0.14 0.295753986612" pos="0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_xminus" type="box" size="0.006 0.14 0.295753986612" pos="-0.269 0 0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_back" type="box" size="0.263 0.006 0.295753986612" pos="0.0 -0.134 0.0" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <geom name="drawer_cabinet_top" type="box" size="0.275 0.14 0.006" pos="0 0 0.289753986612" mass="0.2" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.58 0.6 0.57 1" />
+      <body name="bottom_drawer" pos="0 0.03 -0.0595460133884" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.2" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.013 0.013" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0704539866116" quat="1 0 0 0">
+        <geom name="middle_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="middle_handle" pos="0 0.168 0.0704539866116" quat="1 0 0 0">
+        <geom name="middle_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+      <body name="top_drawer_front" pos="0 0.147 0.200453986612" quat="1 0 0 0">
+        <geom name="top_drawer_front_geom" type="box" size="0.245 0.009 0.06" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.58 0.55 1" />
+      </body>
+      <body name="top_handle" pos="0 0.168 0.200453986612" quat="1 0 0 0">
+        <geom name="top_handle_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+      </body>
+    </body>
+    <body name="red_block" pos="-0.281016945838 -0.768848837365 0.7753" quat="0.816860820765 0 0 -0.576834811276">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000004/asset/definition.json b/150case/cases/stack_blocks_ep000004/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..e34bfea43360d64374d5ece7773710b5a2503d36
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000004/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.2882381565222018,
+          -0.7245604987590755,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.6007743217367711,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.2431404761546911,
+          -0.7097707309490336,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.3545214431315242,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.009806389136110883,
+          -0.6531586236163479,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000007/asset/manifest.json b/150case/cases/stack_blocks_ep000007/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2429d3ac5a802c3fbd0ba53f94a6022fffe3702
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000007/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v61_instance",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "879f0b23e589fa9cbaf3385d149f45ad4892ceb14d05223e650f7fbe06dd58c7"
+  },
+  "status": "awaiting_physics",
+  "scope": "approximate action-compatible layout; not measured real geometry"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000007/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000007/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000007/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
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+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000007/source_reference/scene.xml b/150case/cases/stack_blocks_ep000007/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7bd0eb625776270f017fb7588306eaedaf034dbc
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000007/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7167380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3011774949 -0.3267604267 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.168515560247 -0.762916673331 0.7753" quat="-0.607870171586 0 0 0.794036431467">
+      <freejoint name="blue_cube_free" />
+      <geom name="blue_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.08 0.38 0.52 1" />
+    </body>
+    <body name="purple_cube" pos="-0.167807478893 -0.753974017804 0.7753" quat="0.771060189046 0 0 -0.636762267151">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="-0.00217719912915 -0.653652120226 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000007/source_scene.json b/150case/cases/stack_blocks_ep000007/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..762acb61cbd1548946d699f1dd2aa7a2b260f052
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000007/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.1685155602471852,
+        -0.762916673330589,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.8348415582938862,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.16780747889343878,
+        -0.7539740178037412,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.3805837619722632,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.002177199129145869,
+        -0.6536521202255692,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000009/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000009/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000009/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
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+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
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+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
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+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
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+                            <site name="force_torque_sensor_left" />
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+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
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+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
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+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
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+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
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+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
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+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
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+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000015/asset/definition.json b/150case/cases/stack_blocks_ep000015/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..15d6faa576e0bd4e9414d7ab09a4e3ae766b7880
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000015/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.31146981551169217,
+          -0.7510730968901296,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.2307195174948213,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.24933611633078193,
+          -0.7238608265285092,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -0.937766401456576,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.024322901800737345,
+          -0.6749190129559698,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000015/source_reference/scene.xml b/150case/cases/stack_blocks_ep000015/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..02f850e59dd3619f1224179b99d88242d0bb0988
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000015/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3320927502 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.311469815512 -0.75107309689 0.7753" quat="-0.439854423978 0 0 0.89806908738">
+      <freejoint name="blue_cube_free" />
+      <geom name="blue_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.08 0.38 0.52 1" />
+    </body>
+    <body name="purple_cube" pos="-0.249336116331 -0.723860826529 0.7753" quat="0.892073515164 0 0 -0.451890300342">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="0.0243229018007 -0.674919012956 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000029/asset/manifest.json b/150case/cases/stack_blocks_ep000029/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..50128176d949940b5acf251a5090486a06b4afa6
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000029/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_block_orientation_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "9c598fc5a02b1f3e0c406f3a4a81a2c9a0481586691f04909e4f620df9b06937"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000029/source_config.json b/150case/cases/stack_blocks_ep000029/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..39d589fe61176f975343cac84412a18447018a6d
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000029/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000029",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000029",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000029/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_block_orientation_repair_20260920/stack_blocks/episode_000029/candidate_02/asset",
+  "engineered_task_asset_sha256": "3bd041b485f224ad85461aa9fc2535ac52cc25a7e187940657a6a5f2c9ae80dd",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_blocks/episode_000029/inputs/source_eef_ik/aced043314bdcc32aeda/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0,
+      0.025,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_block_orientation_repair_20260920/stack_blocks/episode_000029/candidate_02/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000029/source_scene.json b/150case/cases/stack_blocks_ep000029/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cbfc8ee459253aefdd4b1cf1cd698272cc92b43
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000029/source_scene.json
@@ -0,0 +1,125 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.3411203509666369,
+        -0.7503696898488604,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.9821590413324963,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04,
+      "roll_pitch_rad": [
+        1.57,
+        0
+      ]
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.3377513993926183,
+        -0.7433353265118027,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -0.9933689217135045,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04,
+      "roll_pitch_rad": [
+        1.57,
+        0
+      ]
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        0.0014236849409961332,
+        -0.6629068893993592,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000032/inputs/case.json b/150case/cases/stack_blocks_ep000032/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..92926a6c4c535668f21ee95968819152dd427154
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000032/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 32,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000032.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000032.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000032.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000032.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 32,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "2663d0d1478554f8df760cb897032da8a355b754a7895e2e77139379fffa1458",
+  "source_rows": 768,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "35999a0f3bfcbde1c335dc02ef3f2ef6a83d5dfee15cc601eef8fce4fa9ae057"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000032/source_reference/scene.xml b/150case/cases/stack_blocks_ep000032/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c127b2499d1ceecfb97e1ef59b7b55969b344113
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000032/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.2991371012 -0.3275324661 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.292327202156 -0.718687372792 0.7753" quat="-0.491146104269 0 0 0.871077209128">
+      <freejoint name="blue_cube_free" />
+      <geom name="blue_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.08 0.38 0.52 1" />
+    </body>
+    <body name="purple_cube" pos="-0.226733784417 -0.765554852622 0.7753" quat="0.969043916751 0 0 -0.246888410843">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="-0.00157061363893 -0.691123284562 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000033/asset/manifest.json b/150case/cases/stack_blocks_ep000033/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..8906be263b2dbe7e10fa6bcaa7f2dde5bcf6ea64
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000033/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v61_instance",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "d256174245da11982179918803daafb6da8befe14c26eccc71d5664695424c4c"
+  },
+  "status": "awaiting_physics",
+  "scope": "approximate action-compatible layout; not measured real geometry"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000033/inputs/case.json b/150case/cases/stack_blocks_ep000033/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b65d5886a0cdad9325e1d4e87b87eee3b17dc88
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000033/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 33,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000033.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000033.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000033.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000033.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 33,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "5669da0d73965b3723cfb53423e29df0fc757b3832f453f39afe5f6341835113",
+  "source_rows": 695,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "2a3f52cf4f3da8ff49e7839eac27438b06d0582ce4dd579ecf279ed8915b3377"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000033/source_config.json b/150case/cases/stack_blocks_ep000033/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..30618f7ea95561e8669ccae6097da3998c5e2564
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000033/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000033",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000033",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000033/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v61_20260920/stack_blocks/episode_000033/candidate_00/asset",
+  "engineered_task_asset_sha256": "ad51e0a52e7cb745aebbf7104448fcb7e2c08cca1ca70d4cfc3355b0205c26ab",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_blocks/episode_000033/inputs/source_eef_ik/f023bdf74a642f026a92/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0,
+      0.025,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v61_20260920/stack_blocks/episode_000033/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000042/asset/definition.json b/150case/cases/stack_blocks_ep000042/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..a42fb2d56645622f483e64637e9ed91bd0b295f0
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000042/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.1919609899441505,
+          -0.7201568161566035,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.523712694618834,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.29284410334157285,
+          -0.718090915204824,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -0.8638336972795175,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.007007350099873074,
+          -0.6838334669104545,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000042/asset/manifest.json b/150case/cases/stack_blocks_ep000042/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8702151916c9ad4cfe2a714b09a21af8c0712dd
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000042/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_episode_candidate",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "10af6f47ea04ec7011a60cd9a7171ea7d620cbdefcc7f80287219d117e7cc49c"
+  },
+  "status": "physical_candidate",
+  "source_action_immutable": true
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000042/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000042/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000042/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
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+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000042/source_config.json b/150case/cases/stack_blocks_ep000042/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..69822260cd12001106fc38ada5d362696027e861
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000042/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000042",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000042",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000042/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_blocks/episode_000042/candidate_00/asset",
+  "engineered_task_asset_sha256": "cb73563298d39e76692d8c8fb96691e6927a6df53b989ac79723db8b4c8e7dc8",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_blocks/episode_000042/inputs/source_eef_ik/eea22275b2adf077de67/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0,
+      0.025,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_blocks/episode_000042/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000042/source_eef_receipt.json b/150case/cases/stack_blocks_ep000042/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4f4960036f2d3aa3c6b5d32ddfeb536aa397a06
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000042/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "fe76c49161df50e4392ef47aced623f66c0d3ed8d6373a32ecf8a974b1fb03b2",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
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+              1.0,
+              -0.025261987701879457
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+            [
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+              0.0,
+              0.0,
+              1.0
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+          "source_reference_from_grasp": [
+            [
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+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
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+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
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+              1.0,
+              0.13366940357801368
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+            [
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+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
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+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
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+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
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+          ]
+        },
+        "right": {
+          "task_from_source_base": [
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+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4179072497566929
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+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.90392999092733e-05,
+      "orientation_error_max_rad": 0.00015972201281509255,
+      "position_error_p95_m": 8.723608804717542e-06,
+      "max_joint_step_rad": 0.7594328706630774
+    },
+    "right": {
+      "position_error_max_m": 0.00041506710835567814,
+      "orientation_error_max_rad": 0.004561233968707138,
+      "position_error_p95_m": 0.0004139621460101184,
+      "max_joint_step_rad": 0.09357217129991768
+    }
+  },
+  "wall_s": 0.5734388208948076,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000042/source_scene.json b/150case/cases/stack_blocks_ep000042/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f0426d923b8287ccc3223dce704dfbd25a27267
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000042/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.1919609899441505,
+        -0.7201568161566035,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.523712694618834,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.29284410334157285,
+        -0.718090915204824,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -0.8638336972795175,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.007007350099873074,
+        -0.6838334669104545,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000049/asset/definition.json b/150case/cases/stack_blocks_ep000049/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..84a63ed9ee01d57bd1b16f8d175c30b561f9512c
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000049/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.3889367670392689,
+          -0.8462533947067873,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.2268741605080853,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.3083772677449419,
+          -0.7225403472691998,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.3445787496144737,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.002258557496393157,
+          -0.6614098541883237,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000049/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000049/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000049/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
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+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
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+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000049/source_eef_receipt.json b/150case/cases/stack_blocks_ep000049/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5dcc228ed3ae63f538666ae8d08a6cce9243826
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000049/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "95f41c4768acd09a38bfae747f2f25c87e815a897517bda9cfb245244c9c245e",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4198031615470673
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.3067163809801742
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 0.03970753342381895,
+      "orientation_error_max_rad": 0.587942451437128,
+      "position_error_p95_m": 1.1182299952678868e-05,
+      "max_joint_step_rad": 2.0548754431396445
+    },
+    "right": {
+      "position_error_max_m": 0.0003405679171195984,
+      "orientation_error_max_rad": 0.0037436848148794744,
+      "position_error_p95_m": 0.0003352742954905128,
+      "max_joint_step_rad": 0.07732015198638331
+    }
+  },
+  "wall_s": 0.6088240947574377,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000049/source_reference/scene.xml b/150case/cases/stack_blocks_ep000049/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c2fd8c2a015537bf3d31e185f1f9362f34a44f96
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000049/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.306716381 -0.3301968385 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.388936767039 -0.846253394707 0.7753" quat="0.817674188827 0 0 -0.575681266784">
+      <freejoint name="blue_cube_free" />
+      <geom name="blue_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.08 0.38 0.52 1" />
+    </body>
+    <body name="purple_cube" pos="-0.308377267745 -0.722540347269 0.7753" quat="0.782397943352 0 0 -0.622778819678">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="0.00225855749639 -0.661409854188 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000002/asset/definition.json b/150case/cases/stack_cups_ep000002/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..171ba30f9c617a1cd59edccb62488a5c66d2ae4b
--- /dev/null
+++ b/150case/cases/stack_cups_ep000002/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.2560286530282279,
+          -0.8352850583332042,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.26894577596039027,
+          -0.6757309612736287,
+          0.7928
+        ],
+        "size_m": [
+          0.0585,
+          0.0585,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.017632478452882475,
+          -0.6920883295079107,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000002/asset/manifest.json b/150case/cases/stack_cups_ep000002/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..79b049dd423547d6ca709ee00004b60c8eb1c2ac
--- /dev/null
+++ b/150case/cases/stack_cups_ep000002/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "a4d99f1117e6c0c2b0da4d8c5d80c63bac3fd71ba24f815b3deed15e4f9c8c00"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000002/inputs/case.json b/150case/cases/stack_cups_ep000002/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..08c1943cdf9718f29b02ce7e7b3f6e7956cf3f34
--- /dev/null
+++ b/150case/cases/stack_cups_ep000002/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 2,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000002.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000002.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000002.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000002.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 2,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "5e48923325fb50f3b30a4fda113c152451481f3910e039599703e68051872ac1",
+  "source_rows": 434,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "a2b5ac403de83642cc8679be0da85220bbaf474875cb35854ac4f7938270ed5e"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000002/source_config.json b/150case/cases/stack_cups_ep000002/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..c92766a286cce6d40f38919c298548541d4d0e2d
--- /dev/null
+++ b/150case/cases/stack_cups_ep000002/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000002",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000002",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000002/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000002/candidate_00/asset",
+  "engineered_task_asset_sha256": "5b6245d2b5814313ee4f5ccf77d0f3708b31bec64a6e32e42fc1ff5623fa0207",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000002/inputs/source_eef_ik/26fe1f54d3c450dae7dd/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000002/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000002/source_eef_receipt.json b/150case/cases/stack_cups_ep000002/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..11781aec187a3635cfe6733e2f11e72737dace6b
--- /dev/null
+++ b/150case/cases/stack_cups_ep000002/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "5e48923325fb50f3b30a4fda113c152451481f3910e039599703e68051872ac1",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
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+          0.75
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+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
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+            [
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+          "source_reference_from_grasp": [
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+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
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+            [
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+              0.0,
+              0.0,
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+        },
+        "right": {
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+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
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+              0.0,
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+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
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+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
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+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
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+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
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+              2.6794896468285145e-08,
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+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.708924316459379e-05,
+      "orientation_error_max_rad": 9.134923205631781e-05,
+      "position_error_p95_m": 5.17395382802289e-06,
+      "max_joint_step_rad": 0.07467562711562103
+    },
+    "right": {
+      "position_error_max_m": 0.00020071017326322063,
+      "orientation_error_max_rad": 0.002208471775984517,
+      "position_error_p95_m": 0.00012640908177779958,
+      "max_joint_step_rad": 0.07623960541720909
+    }
+  },
+  "wall_s": 0.32537118904292583,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000002/source_reference/scene.xml b/150case/cases/stack_cups_ep000002/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b385c2b62788ab3d011fcb25c9d8cc1924b81dba
--- /dev/null
+++ b/150case/cases/stack_cups_ep000002/source_reference/scene.xml
@@ -0,0 +1,194 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
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+      <geom name="cup_left_base_wall_13" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_left_base_wall_14" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_left_base_wall_15" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="cup_right_upper" pos="-0.26894577596 -0.675730961274 0.7928" quat="0.999687516276 0 0 0.0249973959147">
+      <freejoint name="cup_right_upper_free" />
+      <geom name="cup_right_upper_bottom" type="cylinder" size="0.02925 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_right_upper_wall_0" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.02775 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_right_upper_wall_1" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_right_upper_wall_2" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_right_upper_wall_3" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_right_upper_wall_4" type="box" size="0.0015 0.00551981819479 0.0425" pos="1.69919743382e-18 0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_right_upper_wall_5" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_right_upper_wall_6" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_right_upper_wall_7" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_right_upper_wall_8" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.02775 3.39839486763e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_right_upper_wall_9" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_right_upper_wall_10" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_right_upper_wall_11" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_right_upper_wall_12" type="box" size="0.0015 0.00551981819479 0.0425" pos="-5.09759230145e-18 -0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_right_upper_wall_13" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_right_upper_wall_14" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_right_upper_wall_15" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="stack_region" pos="-0.0176324784529 -0.692088329508 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000002/source_scene.json b/150case/cases/stack_cups_ep000002/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..17f40b7bca462d7f3d974492f2b615aedf7e3571
--- /dev/null
+++ b/150case/cases/stack_cups_ep000002/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.2560286530282279,
+        -0.8352850583332042,
+        0.7928
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.26894577596039027,
+        -0.6757309612736287,
+        0.7928
+      ],
+      "size_m": [
+        0.0585,
+        0.0585,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.017632478452882475,
+        -0.6920883295079107,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000003/asset/definition.json b/150case/cases/stack_cups_ep000003/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..83ae712cb3faf367f685456a2e8fd27b4295cc9c
--- /dev/null
+++ b/150case/cases/stack_cups_ep000003/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.2736162394638335,
+          -0.8417118945340859,
+          0.7878
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.27050740947443336,
+          -0.6715250348679972,
+          0.7928
+        ],
+        "size_m": [
+          0.0585,
+          0.0585,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.013747460433619914,
+          -0.6691021792017874,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000003/asset/manifest.json b/150case/cases/stack_cups_ep000003/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e4364353357a8b68516c7557188103b8bfe1fc6
--- /dev/null
+++ b/150case/cases/stack_cups_ep000003/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "2bf6e90b98ec41b0daf7009716ab538fa0ef08fbcfd2f4051e2482555ac6191d"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000003/inputs/case.json b/150case/cases/stack_cups_ep000003/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcf3cb87769870495f1fe3f90b14c290abcf8a3f
--- /dev/null
+++ b/150case/cases/stack_cups_ep000003/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 3,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000003.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000003.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000003.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000003.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 3,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "a283012f1f38184bbf2ce32c5a83bf9f7df4e071414543c54bbd247f5095bf61",
+  "source_rows": 438,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "b0ec2459d5a151034129505ab1410bf0d43a7270b272f58e0d7fa72a30b922f3"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000003/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000003/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000003/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
+        <inertial pos="-2.7619e-07 1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
+      </body>
+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
+        <inertial pos="0.0019998 -0.0070713 0.014539" quat="0.653281 0.270598 -0.653281 0.270598" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LR_Link" />
+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
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+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
+          <body name="astribot_torso_link_3" pos="-0.39 0 0" gravcomp="0" quat="0.98962549373999498 0 0 0.14367109013253554">
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+            <body name="astribot_torso_link_4" pos="0 0 0" quat="0.49969040546151655 0.50030740665236773 -0.49969440546076005 -0.50030740419236785" gravcomp="0">
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+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
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+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
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+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
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+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
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+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000003/source_config.json b/150case/cases/stack_cups_ep000003/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..e74343aea5fcfecfc0eab3c8b0fdb8ff430b5c3f
--- /dev/null
+++ b/150case/cases/stack_cups_ep000003/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000003",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000003",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000003/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000003/candidate_00/asset",
+  "engineered_task_asset_sha256": "f18127da580c98c59782caeee0cdadaa825355369c57ef020a36bab7ced0557c",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000003/inputs/source_eef_ik/f637e6e742ef873fae52/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000003/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000003/source_scene.json b/150case/cases/stack_cups_ep000003/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..52dca95055d417fd3cf76bd11b8b81d35b7ca86f
--- /dev/null
+++ b/150case/cases/stack_cups_ep000003/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.2736162394638335,
+        -0.8417118945340859,
+        0.7878
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.27050740947443336,
+        -0.6715250348679972,
+        0.7928
+      ],
+      "size_m": [
+        0.0585,
+        0.0585,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
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+        -0.6691021792017874,
+        0.7517999999999999
+      ],
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+      "rgba": [
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+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000006/asset/manifest.json b/150case/cases/stack_cups_ep000006/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..c47a867d7a365046c630c42fdc8c095a6d722454
--- /dev/null
+++ b/150case/cases/stack_cups_ep000006/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "d68e8f3e201bad4a62c9ad2aa781e39715b610a6312851dcde8902957e91392a"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000006/inputs/case.json b/150case/cases/stack_cups_ep000006/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..4587e74f587bf00978805b2f3ba50acb8c329811
--- /dev/null
+++ b/150case/cases/stack_cups_ep000006/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 6,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000006.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000006.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000006.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000006.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 6,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "25d17eb43349052e2f4f5f15c5ebb1834109f713f718e4dbc3fbe0e095da4e34",
+  "source_rows": 376,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "a62546a7fdb6c58b93ca708685c817baa4a7176290e21463cdfbcd0340e4b417"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000006/source_config.json b/150case/cases/stack_cups_ep000006/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..97ad27f30850722087951792c17db4ab853a8710
--- /dev/null
+++ b/150case/cases/stack_cups_ep000006/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000006",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000006",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000006/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000006/candidate_00/asset",
+  "engineered_task_asset_sha256": "e54a8534bd1e4f31a4e0096077a095d831787b47b2dd45635adadfa11d8df1ee",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000006/inputs/source_eef_ik/fabae34131978c8278d9/receipt.json",
+  "source_base_world_shift_m": {
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+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000006/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000006/source_scene.json b/150case/cases/stack_cups_ep000006/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..da778275cd85d5c32f98e9fda8b3a95102dd04e2
--- /dev/null
+++ b/150case/cases/stack_cups_ep000006/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
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+        -0.7689371805620581,
+        0.7928
+      ],
+      "size_m": [
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+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.19912954512998818,
+        -0.6713718212537728,
+        0.7928
+      ],
+      "size_m": [
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+        0.0585,
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+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.010075420556657472,
+        -0.6994648306268262,
+        0.7517999999999999
+      ],
+      "size_m": [
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+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000008/asset/manifest.json b/150case/cases/stack_cups_ep000008/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d594c33a32b36f888746a2337262cc90545979d
--- /dev/null
+++ b/150case/cases/stack_cups_ep000008/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "5c96135b6953425d5fa093461bdde9693d928fddf4f978b0f0e53fcae70d441b"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000008/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000008/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000008/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
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+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000008/source_eef_receipt.json b/150case/cases/stack_cups_ep000008/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..d83bbcf35e50366a071159ac22a0df49dd5eab03
--- /dev/null
+++ b/150case/cases/stack_cups_ep000008/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "8467b3880ed994a38035c3921222621f2160a6c433168bfda96c9be7cfe3abc8",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4629072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.28822398205599997
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.874272099585914e-05,
+      "orientation_error_max_rad": 0.00014037686629987661,
+      "position_error_p95_m": 4.463787999595331e-06,
+      "max_joint_step_rad": 0.09036611811811479
+    },
+    "right": {
+      "position_error_max_m": 0.0003040706578708329,
+      "orientation_error_max_rad": 0.003389101122987704,
+      "position_error_p95_m": 9.047620378323842e-05,
+      "max_joint_step_rad": 0.07728317232057491
+    }
+  },
+  "wall_s": 0.3160449108108878,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000008/source_reference/scene.xml b/150case/cases/stack_cups_ep000008/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fedd1dc75754060794300c48630846e8e32fa571
--- /dev/null
+++ b/150case/cases/stack_cups_ep000008/source_reference/scene.xml
@@ -0,0 +1,194 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
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+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
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+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
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+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
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+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
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+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
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+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
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+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
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+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
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+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
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+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
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+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
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+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
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+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
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+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
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+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
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+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="cup_left_base" pos="0.306563464496 -0.710662542288 0.7978" quat="0.999800006667 0 0 -0.0199986666933">
+      <freejoint name="cup_left_base_free" />
+      <geom name="cup_left_base_bottom" type="cylinder" size="0.0375 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_left_base_wall_0" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.036 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_left_base_wall_1" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_left_base_wall_2" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_left_base_wall_3" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_left_base_wall_4" type="box" size="0.0015 0.00716084522567 0.0425" pos="2.20436423847e-18 0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_left_base_wall_5" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_left_base_wall_6" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_left_base_wall_7" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_left_base_wall_8" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.036 4.40872847693e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_left_base_wall_9" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_left_base_wall_10" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_left_base_wall_11" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_left_base_wall_12" type="box" size="0.0015 0.00716084522567 0.0425" pos="-6.6130927154e-18 -0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_left_base_wall_13" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_left_base_wall_14" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_left_base_wall_15" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="cup_right_upper" pos="-0.1901634251 -0.768456839206 0.7928" quat="0.999687516276 0 0 0.0249973959147">
+      <freejoint name="cup_right_upper_free" />
+      <geom name="cup_right_upper_bottom" type="cylinder" size="0.0325 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_right_upper_wall_0" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.031 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_right_upper_wall_1" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0286402655078 0.0118631864033 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_right_upper_wall_2" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0219203102168 0.0219203102168 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_right_upper_wall_3" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0118631864033 0.0286402655078 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_right_upper_wall_4" type="box" size="0.0015 0.00616628338877 0.0425" pos="1.89820253868e-18 0.031 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_right_upper_wall_5" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0118631864033 0.0286402655078 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_right_upper_wall_6" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0219203102168 0.0219203102168 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_right_upper_wall_7" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0286402655078 0.0118631864033 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_right_upper_wall_8" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.031 3.79640507736e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_right_upper_wall_9" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0286402655078 -0.0118631864033 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_right_upper_wall_10" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0219203102168 -0.0219203102168 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_right_upper_wall_11" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0118631864033 -0.0286402655078 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_right_upper_wall_12" type="box" size="0.0015 0.00616628338877 0.0425" pos="-5.69460761604e-18 -0.031 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_right_upper_wall_13" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0118631864033 -0.0286402655078 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_right_upper_wall_14" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0219203102168 -0.0219203102168 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_right_upper_wall_15" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0286402655078 -0.0118631864033 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="stack_region" pos="-0.0053596835566 -0.707313853797 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.1125 0.1 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000008/source_scene.json b/150case/cases/stack_cups_ep000008/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1d3b60e3a8f011d0e1ff23451179fbb08550404
--- /dev/null
+++ b/150case/cases/stack_cups_ep000008/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.3065634644963646,
+        -0.7106625422884485,
+        0.7978
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.19016342509963804,
+        -0.7684568392059697,
+        0.7928
+      ],
+      "size_m": [
+        0.065,
+        0.065,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.005359683556596079,
+        -0.7073138537973495,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.22499999999999998,
+        0.2,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000026/asset/definition.json b/150case/cases/stack_cups_ep000026/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7c5e1851f6bbce6cda963001a0b97ddfaa98f88
--- /dev/null
+++ b/150case/cases/stack_cups_ep000026/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.10383436271410013,
+          -0.8110054086130984,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.28022805625417735,
+          -0.6692556575092852,
+          0.7928
+        ],
+        "size_m": [
+          0.0585,
+          0.0585,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.018251884256882192,
+          -0.6419253600189377,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000026/asset/manifest.json b/150case/cases/stack_cups_ep000026/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..eca76d0a0101e28e5d9436de110bb3c6410b41c9
--- /dev/null
+++ b/150case/cases/stack_cups_ep000026/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "73e71908ccd1600fa53a380c96138d9bfa2ae258d748739d10fc11139fb522e1"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000026/inputs/case.json b/150case/cases/stack_cups_ep000026/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6d832b9f04fba7302c908d163bf836b5843dcad
--- /dev/null
+++ b/150case/cases/stack_cups_ep000026/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 26,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000026.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000026.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000026.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000026.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 26,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "a9fafacd85809b83b871a5dffb2d4042127f7f68e4af02a07d0ec6564a1aeee8",
+  "source_rows": 404,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "c4a12f720951fc29b8db787b2464be2cd8e45c53fd96bf5532ada7d831b07fa9"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000026/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000026/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000026/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
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+    <default class="size3">
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+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000026/source_config.json b/150case/cases/stack_cups_ep000026/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..907eee522fa97327703f9305cbe080ec96e1708d
--- /dev/null
+++ b/150case/cases/stack_cups_ep000026/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000026",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000026",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000026/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000026/candidate_00/asset",
+  "engineered_task_asset_sha256": "200aee912eff5b647441d8e91f3be270f5adfaafc720dd47dbb9bb047ce17124",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000026/inputs/source_eef_ik/da0db3922a7efc4fb203/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000026/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000026/source_eef_receipt.json b/150case/cases/stack_cups_ep000026/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..1097faa4970273ecfb388ba27d4243ca81a34625
--- /dev/null
+++ b/150case/cases/stack_cups_ep000026/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "a9fafacd85809b83b871a5dffb2d4042127f7f68e4af02a07d0ec6564a1aeee8",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
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+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
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+              1.0,
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+            [
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+              0.0,
+              1.0
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+          ],
+          "source_reference_from_grasp": [
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+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
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+              1.0,
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+              0.0,
+              0.0,
+              1.0
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+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
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+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
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+            [
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+              0.0,
+              0.0,
+              1.0
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+        },
+        "right": {
+          "task_from_source_base": [
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+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4629072497566929
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+              0.999462342916746,
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+              -0.28822398205599997
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+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9392570890982396e-05,
+      "orientation_error_max_rad": 0.0001231492355442302,
+      "position_error_p95_m": 6.768293150199556e-06,
+      "max_joint_step_rad": 0.14130489762687776
+    },
+    "right": {
+      "position_error_max_m": 0.0003199998349418023,
+      "orientation_error_max_rad": 0.0035165226566123003,
+      "position_error_p95_m": 0.00012936602503518173,
+      "max_joint_step_rad": 0.09255255709875465
+    }
+  },
+  "wall_s": 0.3249405771493912,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000026/source_reference/scene.xml b/150case/cases/stack_cups_ep000026/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..33b00ed8b0a3167457fdb38bb143c38e28f79be7
--- /dev/null
+++ b/150case/cases/stack_cups_ep000026/source_reference/scene.xml
@@ -0,0 +1,194 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.2882239821 -0.2870927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="cup_left_base" pos="0.103834362714 -0.811005408613 0.7928" quat="0.999800006667 0 0 -0.0199986666933">
+      <freejoint name="cup_left_base_free" />
+      <geom name="cup_left_base_bottom" type="cylinder" size="0.0375 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_left_base_wall_0" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.036 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_left_base_wall_1" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_left_base_wall_2" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_left_base_wall_3" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_left_base_wall_4" type="box" size="0.0015 0.00716084522567 0.0425" pos="2.20436423847e-18 0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_left_base_wall_5" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_left_base_wall_6" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_left_base_wall_7" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_left_base_wall_8" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.036 4.40872847693e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_left_base_wall_9" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_left_base_wall_10" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_left_base_wall_11" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_left_base_wall_12" type="box" size="0.0015 0.00716084522567 0.0425" pos="-6.6130927154e-18 -0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_left_base_wall_13" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_left_base_wall_14" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_left_base_wall_15" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="cup_right_upper" pos="-0.280228056254 -0.669255657509 0.7928" quat="0.999687516276 0 0 0.0249973959147">
+      <freejoint name="cup_right_upper_free" />
+      <geom name="cup_right_upper_bottom" type="cylinder" size="0.02925 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_right_upper_wall_0" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.02775 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_right_upper_wall_1" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_right_upper_wall_2" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_right_upper_wall_3" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_right_upper_wall_4" type="box" size="0.0015 0.00551981819479 0.0425" pos="1.69919743382e-18 0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_right_upper_wall_5" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_right_upper_wall_6" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_right_upper_wall_7" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_right_upper_wall_8" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.02775 3.39839486763e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_right_upper_wall_9" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_right_upper_wall_10" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_right_upper_wall_11" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_right_upper_wall_12" type="box" size="0.0015 0.00551981819479 0.0425" pos="-5.09759230145e-18 -0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_right_upper_wall_13" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_right_upper_wall_14" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_right_upper_wall_15" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="stack_region" pos="-0.0182518842569 -0.641925360019 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000026/source_scene.json b/150case/cases/stack_cups_ep000026/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c4bc0c3cba31e460f3996d0528b9ed43bc4b3d9
--- /dev/null
+++ b/150case/cases/stack_cups_ep000026/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.10383436271410013,
+        -0.8110054086130984,
+        0.7928
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.28022805625417735,
+        -0.6692556575092852,
+        0.7928
+      ],
+      "size_m": [
+        0.0585,
+        0.0585,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.018251884256882192,
+        -0.6419253600189377,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000029/asset/manifest.json b/150case/cases/stack_cups_ep000029/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..07e397f845aeebef9ffe37ce2f7d9d710a941927
--- /dev/null
+++ b/150case/cases/stack_cups_ep000029/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "5052e205b496924ec6a9c65221e6ee7ed650b252fccc3cda60151e8e61ffd8d6"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000029/source_config.json b/150case/cases/stack_cups_ep000029/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bb8fd894b8ff1c0d0c48aed090988ac85222833
--- /dev/null
+++ b/150case/cases/stack_cups_ep000029/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000029",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000029",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000029/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000029/candidate_01/asset",
+  "engineered_task_asset_sha256": "5bfef39ce1571f99268e0ab04233634611c0c1762107ca275f3a52748131e3d1",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000029/inputs/source_eef_ik/2e917f740d36199c30e9/receipt.json",
+  "source_base_world_shift_m": {
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+      0,
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+    ],
+    "right": [
+      0.02,
+      0.07,
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+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000029/candidate_01/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000029/source_scene.json b/150case/cases/stack_cups_ep000029/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fb228e5662b67634dffd005f371c8b61ff4a738
--- /dev/null
+++ b/150case/cases/stack_cups_ep000029/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.2580123845928229,
+        -0.7314749349290947,
+        0.7878
+      ],
+      "size_m": [
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+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.2899491170155752,
+        -0.6638344109794668,
+        0.7928
+      ],
+      "size_m": [
+        0.05525,
+        0.05525,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.005890883869680813,
+        -0.7019546770723105,
+        0.7517999999999999
+      ],
+      "size_m": [
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+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
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+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000031/asset/manifest.json b/150case/cases/stack_cups_ep000031/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a2c8a5da580316641ff15be0213fda6d3f83276
--- /dev/null
+++ b/150case/cases/stack_cups_ep000031/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "6ede843cb46178d7ccc3be17432fc230fd3e060a9dccf35845f68ade500c05b7"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000031/inputs/case.json b/150case/cases/stack_cups_ep000031/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c11b5a9e29cb8536d4d879aeb4b75c657a0eff1
--- /dev/null
+++ b/150case/cases/stack_cups_ep000031/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 31,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000031.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000031.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000031.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000031.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 31,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "e7525d43529357781fb4d4ad02d195c5df8936380aed1384d43278e474f61987",
+  "source_rows": 408,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "386647c2defed5413a240db6070ea5b66e5c04b16c4e93bcc5a978a46978092f"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000031/source_config.json b/150case/cases/stack_cups_ep000031/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a2d12f89a2f0c26140447c96894a354b818d3cf
--- /dev/null
+++ b/150case/cases/stack_cups_ep000031/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
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+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
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+  },
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+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000031",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000031",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000031/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
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+  "stage_protocol": "rssr.stage.v1",
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+  "k3_max_attempts_per_decision_total": 6,
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+  "engineered_task_asset_sha256": "062f77dfd6a26867be0413b9c5efb82f81fff85de43c32578f562ecf07d54b1e",
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+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000031/inputs/source_eef_ik/7ecd64a72a39647d2e70/receipt.json",
+  "source_base_world_shift_m": {
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+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000031/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000031/source_eef_receipt.json b/150case/cases/stack_cups_ep000031/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..0de1ff03ba039f9c287ed14c8d700590e743bc5c
--- /dev/null
+++ b/150case/cases/stack_cups_ep000031/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
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+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9668091422701778e-05,
+      "orientation_error_max_rad": 0.00016372106490308304,
+      "position_error_p95_m": 5.492908205640175e-06,
+      "max_joint_step_rad": 0.08570079631754901
+    },
+    "right": {
+      "position_error_max_m": 8.569789810520932e-05,
+      "orientation_error_max_rad": 0.0010261532920958095,
+      "position_error_p95_m": 2.6400509506292095e-05,
+      "max_joint_step_rad": 0.08939747504974827
+    }
+  },
+  "wall_s": 0.31672867899760604,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000031/source_scene.json b/150case/cases/stack_cups_ep000031/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..912ab40380360cdc8ad38c0596cac336c01fa1be
--- /dev/null
+++ b/150case/cases/stack_cups_ep000031/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.14623706372858683,
+        -0.7988139172558598,
+        0.7978
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.2566125238474183,
+        -0.6381981708204476,
+        0.7928
+      ],
+      "size_m": [
+        0.0585,
+        0.0585,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.007492542190533899,
+        -0.6470482793905676,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}