Add files using upload-large-folder tool

1500case/assets/di1/v0001/manifest.json

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1500case/assets/di2/v0001/manifest.json

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1500case/assets/di3/v0001/manifest.json

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1500case/assets/di4/v0001/manifest.json

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1500case/assets/di6/v0001/manifest.json

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1500case/assets/di7/v0001/manifest.json

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1500case/assets/dm1/v0001/definition.json

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1500case/assets/dm1/v0001/manifest.json

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1500case/assets/dm3/v0001/manifest.json

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1500case/assets/dm4/v0001/definition.json

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1500case/assets/dm4/v0001/manifest.json

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1500case/assets/dm5/v0001/manifest.json

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1500case/assets/dm6/v0001/manifest.json

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1500case/dataset/dm5_Pick_the_bowl_pour_the_coffee_beans_into_bowl/meta/info.json

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1500case/dataset/dm5_Pick_the_bowl_pour_the_coffee_beans_into_bowl/meta/stats.json

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1500case/dataset/dm5_Pick_the_bowl_pour_the_coffee_beans_into_bowl/meta/tasks.jsonl

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150case/README.json

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150case/success_cases/drawer_ep000008/historical_replay/execute/gripper_action_audit.json

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+      <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="1 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                <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=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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" damping=".05" armature=".0002" />
+                                    <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                    <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 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                  </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" damping=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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" damping=".05" armature=".0002" />
+                                    <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                    <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="1 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                  </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" damping=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                </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">
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+                  <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" />
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+                      <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="1 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                <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=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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" damping=".05" armature=".0002" />
+                                    <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                    <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 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                  </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" damping=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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" damping=".05" armature=".0002" />
+                                    <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                    <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="1 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                  </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" damping=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                </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" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" size="0.6 0.4 0.025" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <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>
+    <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="-0.197455160864 -0.965532872111 1.03629302683" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.279993026831" 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 0.285993026831" 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 0.285993026831" 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 0.285993026831" 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 0.279993026831" 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 -0.0693069731687" 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 0.0606930268313" 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 0.0606930268313" 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 0.190693026831" 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 0.190693026831" 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="0.24753688665 -0.760407175857 0.7753" quat="-0.317019894236 0 0 0.948418887759">
+      <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>
+  <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="-2 2" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -1" 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="0.001 1.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+  </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="-2 2" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -1" 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="0.001 1.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+  </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" />
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>

150case/success_cases/drawer_ep000008/historical_replay/execute/source_grasp_events.json

@@ -0,0 +1,30 @@
+{
+  "left": [
+    {
+      "closed_index": 454,
+      "release_index": 515,
+      "closed_s": 15.133333206176758,
+      "release_s": 17.16666603088379
+    },
+    {
+      "closed_index": 535,
+      "release_index": 876,
+      "closed_s": 17.83333396911621,
+      "release_s": 29.200000762939453
+    }
+  ],
+  "right": [
+    {
+      "closed_index": 150,
+      "release_index": 279,
+      "closed_s": 5.0,
+      "release_s": 9.300000190734863
+    },
+    {
+      "closed_index": 651,
+      "release_index": 876,
+      "closed_s": 21.700000762939453,
+      "release_s": 29.200000762939453
+    }
+  ]
+}

150case/success_cases/drawer_ep000008/historical_replay/execute/strict_v1_task_evaluation.json

@@ -0,0 +1,128 @@
+{
+  "schema": "rssr.task.evaluation.v1",
+  "contract_id": "23a2b15ab7fe2a6aa603c1209b40bf8fb4fd8b7650cde4d94a34e1d293303d52",
+  "task_id": "dm6",
+  "geometry_evaluation": "sphere_analytic_v1",
+  "task_success": false,
+  "hard_constraints": {
+    "robot_table_penetration_le_3mm": true,
+    "limited_joints_within_2mrad_or_2mm": false,
+    "solver_no_warnings": true,
+    "waist_coupling_within_1mrad": true,
+    "gripper_coupling_within_2mrad": true
+  },
+  "predicates": [
+    {
+      "id": "initial_outside_00",
+      "kind": "initial_outside",
+      "passed": true,
+      "measurements": {
+        "reference_frame": "container_local",
+        "container": "bottom_drawer",
+        "final_object_extent_min_m": [
+          0.0212949925666929,
+          -0.04643321073083595,
+          -0.0500000674721498
+        ],
+        "final_object_extent_max_m": [
+          0.0897962171559328,
+          0.022068013858404067,
+          -6.747214931213108e-08
+        ],
+        "final_signed_xy_clearance_m": [
+          0.14720378284406718,
+          0.05556678926916406
+        ],
+        "final_signed_bottom_clearance_m": 0.003999932527850192,
+        "final_signed_top_clearance_m": 0.06300006747214931,
+        "maximum_relation_violation_m": 0.24300034962137473,
+        "final_container_up_axis_world": [
+          0.0,
+          0.0,
+          1.0
+        ],
+        "final_container_tilt_degrees": 0.0,
+        "final_below_exterior_floor": false
+      }
+    },
+    {
+      "id": "inside_01",
+      "kind": "inside",
+      "passed": true,
+      "measurements": {
+        "reference_frame": "container_local",
+        "container": "bottom_drawer",
+        "final_object_extent_min_m": [
+          0.0212949925666929,
+          -0.04643321073083595,
+          -0.0500000674721498
+        ],
+        "final_object_extent_max_m": [
+          0.0897962171559328,
+          0.022068013858404067,
+          -6.747214931213108e-08
+        ],
+        "final_signed_xy_clearance_m": [
+          0.14720378284406718,
+          0.05556678926916406
+        ],
+        "final_signed_bottom_clearance_m": 0.003999932527850192,
+        "final_signed_top_clearance_m": 0.06300006747214931,
+        "maximum_relation_violation_m": 0.0,
+        "final_container_up_axis_world": [
+          0.0,
+          0.0,
+          1.0
+        ],
+        "final_container_tilt_degrees": 0.0,
+        "final_below_exterior_floor": false
+      }
+    },
+    {
+      "id": "object_contact_02",
+      "kind": "object_contact",
+      "passed": true,
+      "measurements": {
+        "contact_fraction": 1.0
+      }
+    },
+    {
+      "id": "open_insert_close_03",
+      "kind": "open_insert_close",
+      "passed": true,
+      "measurements": {
+        "first_insertion_s": 16.890000000005987,
+        "opened_before_insertion": true,
+        "open_during_insertion": true,
+        "closed_at_end": true,
+        "maximum_open_fraction_before_insertion": 0.9137983412271983,
+        "open_fraction_at_insertion": 0.8579319583470653,
+        "maximum_final_open_fraction": 0.021054688507116885
+      }
+    },
+    {
+      "id": "stable_04",
+      "kind": "stable",
+      "passed": true,
+      "measurements": {
+        "maximum_motion_m": 0.0
+      }
+    },
+    {
+      "id": "released_05",
+      "kind": "released",
+      "passed": true,
+      "measurements": {}
+    }
+  ],
+  "failed_predicates": [],
+  "hard_failures": [
+    "limited_joints_within_2mrad_or_2mm"
+  ],
+  "rank": [
+    1,
+    0
+  ],
+  "state_source": "simulator_numeric_trace",
+  "render_calls": 0
+}

150case/success_cases/drawer_ep000008/historical_replay/execute/task_completion_v1_task_evaluation.json

@@ -0,0 +1,126 @@
+{
+  "schema": "rssr.task.evaluation.v1",
+  "contract_id": "23a2b15ab7fe2a6aa603c1209b40bf8fb4fd8b7650cde4d94a34e1d293303d52",
+  "task_id": "dm6",
+  "geometry_evaluation": "sphere_analytic_v1",
+  "task_success": true,
+  "hard_constraints": {
+    "robot_table_penetration_le_3mm": true,
+    "limited_joints_within_2mrad_or_2mm": true,
+    "solver_no_warnings": true,
+    "waist_coupling_within_1mrad": true,
+    "gripper_coupling_within_2mrad": true
+  },
+  "predicates": [
+    {
+      "id": "initial_outside_00",
+      "kind": "initial_outside",
+      "passed": true,
+      "measurements": {
+        "reference_frame": "container_local",
+        "container": "bottom_drawer",
+        "final_object_extent_min_m": [
+          0.0212949925666929,
+          -0.04643321073083595,
+          -0.0500000674721498
+        ],
+        "final_object_extent_max_m": [
+          0.0897962171559328,
+          0.022068013858404067,
+          -6.747214931213108e-08
+        ],
+        "final_signed_xy_clearance_m": [
+          0.14720378284406718,
+          0.05556678926916406
+        ],
+        "final_signed_bottom_clearance_m": 0.003999932527850192,
+        "final_signed_top_clearance_m": 0.06300006747214931,
+        "maximum_relation_violation_m": 0.24300034962137473,
+        "final_container_up_axis_world": [
+          0.0,
+          0.0,
+          1.0
+        ],
+        "final_container_tilt_degrees": 0.0,
+        "final_below_exterior_floor": false
+      }
+    },
+    {
+      "id": "inside_01",
+      "kind": "inside",
+      "passed": true,
+      "measurements": {
+        "reference_frame": "container_local",
+        "container": "bottom_drawer",
+        "final_object_extent_min_m": [
+          0.0212949925666929,
+          -0.04643321073083595,
+          -0.0500000674721498
+        ],
+        "final_object_extent_max_m": [
+          0.0897962171559328,
+          0.022068013858404067,
+          -6.747214931213108e-08
+        ],
+        "final_signed_xy_clearance_m": [
+          0.14720378284406718,
+          0.05556678926916406
+        ],
+        "final_signed_bottom_clearance_m": 0.003999932527850192,
+        "final_signed_top_clearance_m": 0.06300006747214931,
+        "maximum_relation_violation_m": 0.0,
+        "final_container_up_axis_world": [
+          0.0,
+          0.0,
+          1.0
+        ],
+        "final_container_tilt_degrees": 0.0,
+        "final_below_exterior_floor": false
+      }
+    },
+    {
+      "id": "object_contact_02",
+      "kind": "object_contact",
+      "passed": true,
+      "measurements": {
+        "contact_fraction": 1.0
+      }
+    },
+    {
+      "id": "open_insert_close_03",
+      "kind": "open_insert_close",
+      "passed": true,
+      "measurements": {
+        "first_insertion_s": 16.890000000005987,
+        "opened_before_insertion": true,
+        "open_during_insertion": true,
+        "closed_at_end": true,
+        "maximum_open_fraction_before_insertion": 0.9137983412271983,
+        "open_fraction_at_insertion": 0.8579319583470653,
+        "maximum_final_open_fraction": 0.021054688507116885
+      }
+    },
+    {
+      "id": "stable_04",
+      "kind": "stable",
+      "passed": true,
+      "measurements": {
+        "maximum_motion_m": 0.0
+      }
+    },
+    {
+      "id": "released_05",
+      "kind": "released",
+      "passed": true,
+      "measurements": {}
+    }
+  ],
+  "failed_predicates": [],
+  "hard_failures": [],
+  "rank": [
+    0,
+    0
+  ],
+  "state_source": "simulator_numeric_trace",
+  "render_calls": 0
+}

150case/success_cases/drawer_ep000008/historical_replay/execute/task_contract.json

@@ -0,0 +1,81 @@
+{
+  "schema": "rssr.task.contract.v1",
+  "task_id": "dm6",
+  "scene_sha256": "b6317f658f017129ffb1fb8c8288e4f1ba5839c277136a2e108edd0ff52e1d07",
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  },
+  "predicates": [
+    {
+      "id": "initial_outside_00",
+      "kind": "initial_outside",
+      "object": "red_block",
+      "container": "bottom_drawer"
+    },
+    {
+      "id": "inside_01",
+      "kind": "inside",
+      "object": "red_block",
+      "container": "bottom_drawer",
+      "clearance_tolerance_m": 0.002
+    },
+    {
+      "id": "object_contact_02",
+      "kind": "object_contact",
+      "object": "red_block",
+      "support": "bottom_drawer",
+      "window_s": 0.2,
+      "minimum_fraction": 0.8
+    },
+    {
+      "id": "open_insert_close_03",
+      "kind": "open_insert_close",
+      "object": "red_block",
+      "container": "bottom_drawer",
+      "joint": "bottom_drawer_slide",
+      "open_fraction": 0.8,
+      "closed_fraction": 0.1,
+      "hold_s": 0.2
+    },
+    {
+      "id": "stable_04",
+      "kind": "stable",
+      "objects": [
+        "red_block",
+        "bottom_drawer"
+      ],
+      "window_s": 1.0,
+      "max_motion_m": 0.003
+    },
+    {
+      "id": "released_05",
+      "kind": "released",
+      "objects": [
+        "red_block",
+        "bottom_drawer"
+      ],
+      "window_s": 1.0
+    }
+  ],
+  "geometry_evaluation": "sphere_analytic_v1",
+  "sim1_success_required": false,
+  "objects_forced_allowed": false,
+  "hard_constraints": [
+    "robot_table_penetration_le_3mm",
+    "limited_joints_within_2mrad_or_2mm",
+    "solver_no_warnings",
+    "waist_coupling_within_1mrad",
+    "gripper_coupling_within_2mrad"
+  ],
+  "model_fidelity_policy": "v17; simulation assumption, not hardware calibration",
+  "contract_id": "23a2b15ab7fe2a6aa603c1209b40bf8fb4fd8b7650cde4d94a34e1d293303d52"
+}

150case/success_cases/drawer_ep000008/historical_replay/execute/task_evaluation.json

@@ -0,0 +1,126 @@
+{
+  "schema": "rssr.task.evaluation.v1",
+  "contract_id": "23a2b15ab7fe2a6aa603c1209b40bf8fb4fd8b7650cde4d94a34e1d293303d52",
+  "task_id": "dm6",
+  "geometry_evaluation": "sphere_analytic_v1",
+  "task_success": true,
+  "hard_constraints": {
+    "robot_table_penetration_le_3mm": true,
+    "limited_joints_within_2mrad_or_2mm": true,
+    "solver_no_warnings": true,
+    "waist_coupling_within_1mrad": true,
+    "gripper_coupling_within_2mrad": true
+  },
+  "predicates": [
+    {
+      "id": "initial_outside_00",
+      "kind": "initial_outside",
+      "passed": true,
+      "measurements": {
+        "reference_frame": "container_local",
+        "container": "bottom_drawer",
+        "final_object_extent_min_m": [
+          0.0212949925666929,
+          -0.04643321073083595,
+          -0.0500000674721498
+        ],
+        "final_object_extent_max_m": [
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+          0.022068013858404067,
+          -6.747214931213108e-08
+        ],
+        "final_signed_xy_clearance_m": [
+          0.14720378284406718,
+          0.05556678926916406
+        ],
+        "final_signed_bottom_clearance_m": 0.003999932527850192,
+        "final_signed_top_clearance_m": 0.06300006747214931,
+        "maximum_relation_violation_m": 0.24300034962137473,
+        "final_container_up_axis_world": [
+          0.0,
+          0.0,
+          1.0
+        ],
+        "final_container_tilt_degrees": 0.0,
+        "final_below_exterior_floor": false
+      }
+    },
+    {
+      "id": "inside_01",
+      "kind": "inside",
+      "passed": true,
+      "measurements": {
+        "reference_frame": "container_local",
+        "container": "bottom_drawer",
+        "final_object_extent_min_m": [
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+          -0.04643321073083595,
+          -0.0500000674721498
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+        "final_object_extent_max_m": [
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+          0.022068013858404067,
+          -6.747214931213108e-08
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+        "final_signed_xy_clearance_m": [
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+          0.05556678926916406
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+        "final_signed_bottom_clearance_m": 0.003999932527850192,
+        "final_signed_top_clearance_m": 0.06300006747214931,
+        "maximum_relation_violation_m": 0.0,
+        "final_container_up_axis_world": [
+          0.0,
+          0.0,
+          1.0
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+        "final_container_tilt_degrees": 0.0,
+        "final_below_exterior_floor": false
+      }
+    },
+    {
+      "id": "object_contact_02",
+      "kind": "object_contact",
+      "passed": true,
+      "measurements": {
+        "contact_fraction": 1.0
+      }
+    },
+    {
+      "id": "open_insert_close_03",
+      "kind": "open_insert_close",
+      "passed": true,
+      "measurements": {
+        "first_insertion_s": 16.890000000005987,
+        "opened_before_insertion": true,
+        "open_during_insertion": true,
+        "closed_at_end": true,
+        "maximum_open_fraction_before_insertion": 0.9137983412271983,
+        "open_fraction_at_insertion": 0.8579319583470653,
+        "maximum_final_open_fraction": 0.021054688507116885
+      }
+    },
+    {
+      "id": "stable_04",
+      "kind": "stable",
+      "passed": true,
+      "measurements": {
+        "maximum_motion_m": 0.0
+      }
+    },
+    {
+      "id": "released_05",
+      "kind": "released",
+      "passed": true,
+      "measurements": {}
+    }
+  ],
+  "failed_predicates": [],
+  "hard_failures": [],
+  "rank": [
+    0,
+    0
+  ],
+  "state_source": "simulator_numeric_trace",
+  "render_calls": 0
+}

150case/success_cases/drawer_ep000008/historical_replay/receipt.json

@@ -0,0 +1,103 @@
+{
+  "schema": "rssr.stage_program_independent_replay.v1",
+  "case_id": "drawer_ep000008",
+  "program": "drawer_open_insert_close_feedback_v7",
+  "independent_review_sha256": null,
+  "review_status": "unreviewed_diagnostic",
+  "eligible_for_campaign": false,
+  "program_transitions": [
+    {
+      "time_s": 3.5,
+      "from": "reference",
+      "to": "align_open",
+      "reason": "measured_handle_standoff_and_exemplar_fk",
+      "phase": "open"
+    },
+    {
+      "time_s": 7.657,
+      "from": "align_open",
+      "to": "pull_open",
+      "reason": "handle_contact_and_slide_motion",
+      "phase": "open"
+    },
+    {
+      "time_s": 10.2575,
+      "from": "pull_open",
+      "to": "release_handle",
+      "reason": "slide_above_165mm",
+      "phase": "open"
+    },
+    {
+      "time_s": 10.6535,
+      "from": "release_handle",
+      "to": "clear_handle",
+      "reason": "gripper_open_above_55mm",
+      "phase": "open"
+    },
+    {
+      "time_s": 12.0755,
+      "from": "clear_handle",
+      "to": "return_reference",
+      "reason": "hand_above_handle_and_contact_absent_300ms",
+      "phase": "open"
+    },
+    {
+      "time_s": 14.6065,
+      "from": "return_reference",
+      "to": "done",
+      "reason": "rate_limited_return_complete",
+      "phase": "open"
+    },
+    {
+      "time_s": 25.6335,
+      "from": "reference",
+      "to": "push_close",
+      "reason": "inserted_and_slide_below_65mm",
+      "phase": "close"
+    },
+    {
+      "time_s": 25.7765,
+      "from": "push_close",
+      "to": "release",
+      "reason": "slide_below_50mm_before_command_reversal",
+      "phase": "close"
+    },
+    {
+      "time_s": 26.174,
+      "from": "release",
+      "to": "clear_handle",
+      "reason": "measured_opening_above_55mm",
+      "phase": "close"
+    },
+    {
+      "time_s": 28.331,
+      "from": "clear_handle",
+      "to": "withdraw",
+      "reason": "hand_above_handle_and_contact_absent_400ms",
+      "phase": "close"
+    },
+    {
+      "time_s": 29.9375,
+      "from": "withdraw",
+      "to": "done",
+      "reason": "returned_to_reference",
+      "phase": "close"
+    }
+  ],
+  "frozen_judge": "task_completion_v1",
+  "reference_horizon_s": 29.200999999977295,
+  "program_horizon_s": 35.2009999999773,
+  "reference_baseline_report_sha256": "b6ca045d5411f238ed5e33db95fe3327c636c688690b70f88165237d1324c0a2",
+  "reference_scene_sha256": "e857a53e737cc363067f4d30bf7263e017c3bda10b825e944e0ae72f187182ec",
+  "execute_scene_sha256": "e857a53e737cc363067f4d30bf7263e017c3bda10b825e944e0ae72f187182ec",
+  "replay_scene_sha256": "e857a53e737cc363067f4d30bf7263e017c3bda10b825e944e0ae72f187182ec",
+  "issued_robot_commands_path": "runs/cobot150_retarget_research_v1_20260924/diagnostic_drawer008_early_release_v7/issued_robot_commands.npz",
+  "issued_robot_commands_sha256": "d7f40e6147847e4f341b1081c8076c83eed0ea692360374222aa6d21d4d91b69",
+  "issued_physical_steps": 70403,
+  "execute_task_pass": true,
+  "independent_replay_task_pass": true,
+  "independent_replay_exact_trajectory": true,
+  "object_state_written_by_program": false,
+  "execute_report_sha256": "910b4ba0d5d2d36324691bd060068a3e1fdf69d6afa7fa02a50f4c1e585d5a92",
+  "replay_report_sha256": "0729d0deb731fe7ce343d5ecb905d8e1be05469bcd421b8dd97fedd3611aabb6"
+}

150case/success_cases/drawer_ep000008/historical_replay/replay/gripper_action_audit.json

@@ -0,0 +1,5 @@
+{
+  "release_opening": {},
+  "source_grasp_events_unchanged": true,
+  "force_or_state_override": false
+}

150case/success_cases/drawer_ep000008/historical_replay/replay/scene.xml

@@ -0,0 +1,509 @@
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+  <option impratio="100" integrator="implicitfast" timestep="0.0005" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
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+    <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>
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+    <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" />
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+    <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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+                  <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="1 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                <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=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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" damping=".05" armature=".0002" />
+                                    <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                    <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 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                  </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" damping=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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" damping=".05" armature=".0002" />
+                                    <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                    <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="1 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                  </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" damping=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                </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" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" size="0.6 0.4 0.025" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <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>
+    <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="-0.197455160864 -0.965532872111 1.03629302683" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.279993026831" 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 0.285993026831" 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 0.285993026831" 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 0.285993026831" 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 0.279993026831" 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 -0.0693069731687" 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 0.0606930268313" 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 0.0606930268313" 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 0.190693026831" 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 0.190693026831" 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="0.24753688665 -0.760407175857 0.7753" quat="-0.317019894236 0 0 0.948418887759">
+      <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>
+  <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="-2 2" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -1" 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="0.001 1.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+  </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="-2 2" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -1" 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="0.001 1.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+  </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" />
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>

150case/success_cases/drawer_ep000008/historical_replay/replay/source_grasp_events.json

@@ -0,0 +1,30 @@
+{
+  "left": [
+    {
+      "closed_index": 454,
+      "release_index": 515,
+      "closed_s": 15.133333206176758,
+      "release_s": 17.16666603088379
+    },
+    {
+      "closed_index": 535,
+      "release_index": 876,
+      "closed_s": 17.83333396911621,
+      "release_s": 29.200000762939453
+    }
+  ],
+  "right": [
+    {
+      "closed_index": 150,
+      "release_index": 279,
+      "closed_s": 5.0,
+      "release_s": 9.300000190734863
+    },
+    {
+      "closed_index": 651,
+      "release_index": 876,
+      "closed_s": 21.700000762939453,
+      "release_s": 29.200000762939453
+    }
+  ]
+}

150case/success_cases/drawer_ep000008/historical_replay/replay/strict_v1_task_evaluation.json

@@ -0,0 +1,128 @@
+{
+  "schema": "rssr.task.evaluation.v1",
+  "contract_id": "23a2b15ab7fe2a6aa603c1209b40bf8fb4fd8b7650cde4d94a34e1d293303d52",
+  "task_id": "dm6",
+  "geometry_evaluation": "sphere_analytic_v1",
+  "task_success": false,
+  "hard_constraints": {
+    "robot_table_penetration_le_3mm": true,
+    "limited_joints_within_2mrad_or_2mm": false,
+    "solver_no_warnings": true,
+    "waist_coupling_within_1mrad": true,
+    "gripper_coupling_within_2mrad": true
+  },
+  "predicates": [
+    {
+      "id": "initial_outside_00",
+      "kind": "initial_outside",
+      "passed": true,
+      "measurements": {
+        "reference_frame": "container_local",
+        "container": "bottom_drawer",
+        "final_object_extent_min_m": [
+          0.0212949925666929,
+          -0.04643321073083595,
+          -0.0500000674721498
+        ],
+        "final_object_extent_max_m": [
+          0.0897962171559328,
+          0.022068013858404067,
+          -6.747214931213108e-08
+        ],
+        "final_signed_xy_clearance_m": [
+          0.14720378284406718,
+          0.05556678926916406
+        ],
+        "final_signed_bottom_clearance_m": 0.003999932527850192,
+        "final_signed_top_clearance_m": 0.06300006747214931,
+        "maximum_relation_violation_m": 0.24300034962137473,
+        "final_container_up_axis_world": [
+          0.0,
+          0.0,
+          1.0
+        ],
+        "final_container_tilt_degrees": 0.0,
+        "final_below_exterior_floor": false
+      }
+    },
+    {
+      "id": "inside_01",
+      "kind": "inside",
+      "passed": true,
+      "measurements": {
+        "reference_frame": "container_local",
+        "container": "bottom_drawer",
+        "final_object_extent_min_m": [
+          0.0212949925666929,
+          -0.04643321073083595,
+          -0.0500000674721498
+        ],
+        "final_object_extent_max_m": [
+          0.0897962171559328,
+          0.022068013858404067,
+          -6.747214931213108e-08
+        ],
+        "final_signed_xy_clearance_m": [
+          0.14720378284406718,
+          0.05556678926916406
+        ],
+        "final_signed_bottom_clearance_m": 0.003999932527850192,
+        "final_signed_top_clearance_m": 0.06300006747214931,
+        "maximum_relation_violation_m": 0.0,
+        "final_container_up_axis_world": [
+          0.0,
+          0.0,
+          1.0
+        ],
+        "final_container_tilt_degrees": 0.0,
+        "final_below_exterior_floor": false
+      }
+    },
+    {
+      "id": "object_contact_02",
+      "kind": "object_contact",
+      "passed": true,
+      "measurements": {
+        "contact_fraction": 1.0
+      }
+    },
+    {
+      "id": "open_insert_close_03",
+      "kind": "open_insert_close",
+      "passed": true,
+      "measurements": {
+        "first_insertion_s": 16.890000000005987,
+        "opened_before_insertion": true,
+        "open_during_insertion": true,
+        "closed_at_end": true,
+        "maximum_open_fraction_before_insertion": 0.9137983412271983,
+        "open_fraction_at_insertion": 0.8579319583470653,
+        "maximum_final_open_fraction": 0.021054688507116885
+      }
+    },
+    {
+      "id": "stable_04",
+      "kind": "stable",
+      "passed": true,
+      "measurements": {
+        "maximum_motion_m": 0.0
+      }
+    },
+    {
+      "id": "released_05",
+      "kind": "released",
+      "passed": true,
+      "measurements": {}
+    }
+  ],
+  "failed_predicates": [],
+  "hard_failures": [
+    "limited_joints_within_2mrad_or_2mm"
+  ],
+  "rank": [
+    1,
+    0
+  ],
+  "state_source": "simulator_numeric_trace",
+  "render_calls": 0
+}

150case/success_cases/drawer_ep000008/historical_replay/replay/task_completion_v1_task_evaluation.json

@@ -0,0 +1,126 @@
+{
+  "schema": "rssr.task.evaluation.v1",
+  "contract_id": "23a2b15ab7fe2a6aa603c1209b40bf8fb4fd8b7650cde4d94a34e1d293303d52",
+  "task_id": "dm6",
+  "geometry_evaluation": "sphere_analytic_v1",
+  "task_success": true,
+  "hard_constraints": {
+    "robot_table_penetration_le_3mm": true,
+    "limited_joints_within_2mrad_or_2mm": true,
+    "solver_no_warnings": true,
+    "waist_coupling_within_1mrad": true,
+    "gripper_coupling_within_2mrad": true
+  },
+  "predicates": [
+    {
+      "id": "initial_outside_00",
+      "kind": "initial_outside",
+      "passed": true,
+      "measurements": {
+        "reference_frame": "container_local",
+        "container": "bottom_drawer",
+        "final_object_extent_min_m": [
+          0.0212949925666929,
+          -0.04643321073083595,
+          -0.0500000674721498
+        ],
+        "final_object_extent_max_m": [
+          0.0897962171559328,
+          0.022068013858404067,
+          -6.747214931213108e-08
+        ],
+        "final_signed_xy_clearance_m": [
+          0.14720378284406718,
+          0.05556678926916406
+        ],
+        "final_signed_bottom_clearance_m": 0.003999932527850192,
+        "final_signed_top_clearance_m": 0.06300006747214931,
+        "maximum_relation_violation_m": 0.24300034962137473,
+        "final_container_up_axis_world": [
+          0.0,
+          0.0,
+          1.0
+        ],
+        "final_container_tilt_degrees": 0.0,
+        "final_below_exterior_floor": false
+      }
+    },
+    {
+      "id": "inside_01",
+      "kind": "inside",
+      "passed": true,
+      "measurements": {
+        "reference_frame": "container_local",
+        "container": "bottom_drawer",
+        "final_object_extent_min_m": [
+          0.0212949925666929,
+          -0.04643321073083595,
+          -0.0500000674721498
+        ],
+        "final_object_extent_max_m": [
+          0.0897962171559328,
+          0.022068013858404067,
+          -6.747214931213108e-08
+        ],
+        "final_signed_xy_clearance_m": [
+          0.14720378284406718,
+          0.05556678926916406
+        ],
+        "final_signed_bottom_clearance_m": 0.003999932527850192,
+        "final_signed_top_clearance_m": 0.06300006747214931,
+        "maximum_relation_violation_m": 0.0,
+        "final_container_up_axis_world": [
+          0.0,
+          0.0,
+          1.0
+        ],
+        "final_container_tilt_degrees": 0.0,
+        "final_below_exterior_floor": false
+      }
+    },
+    {
+      "id": "object_contact_02",
+      "kind": "object_contact",
+      "passed": true,
+      "measurements": {
+        "contact_fraction": 1.0
+      }
+    },
+    {
+      "id": "open_insert_close_03",
+      "kind": "open_insert_close",
+      "passed": true,
+      "measurements": {
+        "first_insertion_s": 16.890000000005987,
+        "opened_before_insertion": true,
+        "open_during_insertion": true,
+        "closed_at_end": true,
+        "maximum_open_fraction_before_insertion": 0.9137983412271983,
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+        "maximum_final_open_fraction": 0.021054688507116885
+      }
+    },
+    {
+      "id": "stable_04",
+      "kind": "stable",
+      "passed": true,
+      "measurements": {
+        "maximum_motion_m": 0.0
+      }
+    },
+    {
+      "id": "released_05",
+      "kind": "released",
+      "passed": true,
+      "measurements": {}
+    }
+  ],
+  "failed_predicates": [],
+  "hard_failures": [],
+  "rank": [
+    0,
+    0
+  ],
+  "state_source": "simulator_numeric_trace",
+  "render_calls": 0
+}

150case/success_cases/drawer_ep000008/historical_replay/replay/task_contract.json

@@ -0,0 +1,81 @@
+{
+  "schema": "rssr.task.contract.v1",
+  "task_id": "dm6",
+  "scene_sha256": "b6317f658f017129ffb1fb8c8288e4f1ba5839c277136a2e108edd0ff52e1d07",
+  "bindings": {
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+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  },
+  "predicates": [
+    {
+      "id": "initial_outside_00",
+      "kind": "initial_outside",
+      "object": "red_block",
+      "container": "bottom_drawer"
+    },
+    {
+      "id": "inside_01",
+      "kind": "inside",
+      "object": "red_block",
+      "container": "bottom_drawer",
+      "clearance_tolerance_m": 0.002
+    },
+    {
+      "id": "object_contact_02",
+      "kind": "object_contact",
+      "object": "red_block",
+      "support": "bottom_drawer",
+      "window_s": 0.2,
+      "minimum_fraction": 0.8
+    },
+    {
+      "id": "open_insert_close_03",
+      "kind": "open_insert_close",
+      "object": "red_block",
+      "container": "bottom_drawer",
+      "joint": "bottom_drawer_slide",
+      "open_fraction": 0.8,
+      "closed_fraction": 0.1,
+      "hold_s": 0.2
+    },
+    {
+      "id": "stable_04",
+      "kind": "stable",
+      "objects": [
+        "red_block",
+        "bottom_drawer"
+      ],
+      "window_s": 1.0,
+      "max_motion_m": 0.003
+    },
+    {
+      "id": "released_05",
+      "kind": "released",
+      "objects": [
+        "red_block",
+        "bottom_drawer"
+      ],
+      "window_s": 1.0
+    }
+  ],
+  "geometry_evaluation": "sphere_analytic_v1",
+  "sim1_success_required": false,
+  "objects_forced_allowed": false,
+  "hard_constraints": [
+    "robot_table_penetration_le_3mm",
+    "limited_joints_within_2mrad_or_2mm",
+    "solver_no_warnings",
+    "waist_coupling_within_1mrad",
+    "gripper_coupling_within_2mrad"
+  ],
+  "model_fidelity_policy": "v17; simulation assumption, not hardware calibration",
+  "contract_id": "23a2b15ab7fe2a6aa603c1209b40bf8fb4fd8b7650cde4d94a34e1d293303d52"
+}

150case/success_cases/drawer_ep000008/historical_replay/replay/task_evaluation.json

@@ -0,0 +1,126 @@
+{
+  "schema": "rssr.task.evaluation.v1",
+  "contract_id": "23a2b15ab7fe2a6aa603c1209b40bf8fb4fd8b7650cde4d94a34e1d293303d52",
+  "task_id": "dm6",
+  "geometry_evaluation": "sphere_analytic_v1",
+  "task_success": true,
+  "hard_constraints": {
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+    "limited_joints_within_2mrad_or_2mm": true,
+    "solver_no_warnings": true,
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+    "gripper_coupling_within_2mrad": true
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+    {
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+      "kind": "inside",
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+      "measurements": {
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+  "state_source": "simulator_numeric_trace",
+  "render_calls": 0
+}

150case/success_cases/stack_blocks_ep000041/historical_replay/execute/gripper_action_audit.json

@@ -0,0 +1,5 @@
+{
+  "release_opening": {},
+  "source_grasp_events_unchanged": true,
+  "force_or_state_override": false
+}

150case/success_cases/stack_blocks_ep000041/historical_replay/execute/report.json

@@ -0,0 +1,3517 @@
+{
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+        "state_source": "simulator_numeric_trace",
+        "render_calls": 0
+      }
+    },
+    "gripper_joint_diagnostics": {
+      "gripper_joint_excess_native_units": {
+        "astribot_gripper_left_joint_L1": 0.0,
+        "astribot_gripper_left_joint_L11": 0.0,
+        "astribot_gripper_left_joint_L2": 0.0,
+        "astribot_gripper_left_joint_R1": 0.0,
+        "astribot_gripper_left_joint_R11": 0.0,
+        "astribot_gripper_left_joint_R2": 0.0,
+        "astribot_gripper_right_joint_L1": 0.0,
+        "astribot_gripper_right_joint_L11": 0.0,
+        "astribot_gripper_right_joint_L2": 0.0,
+        "astribot_gripper_right_joint_R1": 0.0,
+        "astribot_gripper_right_joint_R11": 0.0,
+        "astribot_gripper_right_joint_R2": 0.0
+      },
+      "non_gripper_joint_excess_native_units": {
+        "astribot_torso_joint_1": 0.0,
+        "astribot_torso_joint_2": 0.0,
+        "astribot_head_joint_1": 0.0,
+        "astribot_head_joint_2": 0.0,
+        "astribot_arm_left_joint_1": 0.0,
+        "astribot_arm_left_joint_2": 0.0,
+        "astribot_arm_left_joint_3": 0.0,
+        "astribot_arm_left_joint_4": 8.08339974552623e-05,
+        "astribot_arm_left_joint_5": 0.0,
+        "astribot_arm_left_joint_6": 0.0,
+        "astribot_arm_left_joint_7": 0.0,
+        "astribot_arm_right_joint_1": 0.0,
+        "astribot_arm_right_joint_2": 0.0,
+        "astribot_arm_right_joint_3": 0.0,
+        "astribot_arm_right_joint_4": 0.0,
+        "astribot_arm_right_joint_5": 0.0,
+        "astribot_arm_right_joint_6": 0.0,
+        "astribot_arm_right_joint_7": 0.0
+      },
+      "maximum_gripper_excess_rad": 0.0,
+      "maximum_non_gripper_excess_native_units": 8.08339974552623e-05,
+      "manual_inspection_required": false
+    }
+  },
+  "judgment_version": "task_completion_v1",
+  "runtime_audit": {
+    "directory": "/pfs/yichen/RSSR/pipeline/cobot150_runtime_v80_task_completion_20260923",
+    "pilot_physics_sha256": "ab45bf7deae4ebacfb4b36cb3f2986b8354bf7fee6f6e6edae00cab096355841",
+    "event_command_overlay_enabled": false,
+    "gripper_limit_peak_source": "every physical step; contiguous >2mrad episodes per joint and bound"
+  },
+  "gripper_limit_peak_events": []
+}

150case/success_cases/stack_blocks_ep000041/historical_replay/execute/scene.xml

@@ -0,0 +1,482 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicitfast" timestep="0.0005" 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" />
+    <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" />
+    <mesh name="rssr_equivalent_purple_cube_geom" vertex="-0.025 -0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 -0.025 -0.025 0.025 0.025 0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025 0.025 -0.025 0.025 0.025 0.025" />
+  </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>
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+    <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">
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+      <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">
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+        <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" />
+      </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="1 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                <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=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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" damping=".05" armature=".0002" />
+                                    <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                    <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 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                  </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" damping=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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" damping=".05" armature=".0002" />
+                                    <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                    <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="1 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                  </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" damping=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                </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="1 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                <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=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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" damping=".05" armature=".0002" />
+                                    <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                    <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 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                  </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" damping=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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" damping=".05" armature=".0002" />
+                                    <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                    <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="1 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                  </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" damping=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                </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" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" size="0.6 0.4 0.025" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <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>
+    <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.344656960977 -0.790217915445 0.7753" quat="-0.452317928445 0 0 0.891856766307">
+      <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="-0.34697127372 -0.78016932615 0.7753" quat="0.874164507932 0 0 -0.485629913691">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="mesh" 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" mesh="rssr_equivalent_purple_cube_geom" />
+      <inertial pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" mass="0.04" diaginertia="1.666666666666667e-05 1.666666666666667e-05 1.666666666666667e-05" />
+    </body>
+    <body name="stack_region" pos="-0.000386883272147 -0.671380755489 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>
+  <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="-2 2" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -1" 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="0.001 1.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+  </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="-2 2" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -1" 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="0.001 1.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+  </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" />
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>

150case/success_cases/stack_blocks_ep000041/historical_replay/execute/source_grasp_events.json

@@ -0,0 +1,30 @@
+{
+  "left": [
+    {
+      "closed_index": 125,
+      "release_index": 200,
+      "closed_s": 4.166666507720947,
+      "release_s": 6.666666507720947
+    },
+    {
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+      "release_index": 707,
+      "closed_s": 7.766666889190674,
+      "release_s": 23.566667556762695
+    }
+  ],
+  "right": [
+    {
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+      "release_index": 615,
+      "closed_s": 15.333333015441895,
+      "release_s": 20.5
+    },
+    {
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+      "release_index": 707,
+      "closed_s": 21.433332443237305,
+      "release_s": 23.566667556762695
+    }
+  ]
+}

150case/success_cases/stack_blocks_ep000041/historical_replay/execute/strict_v1_task_evaluation.json

@@ -0,0 +1,180 @@
+{
+  "schema": "rssr.task.evaluation.v1",
+  "contract_id": "384b58878e503a83864345fb822c734608af6af402e14d10824d291f7845a648",
+  "task_id": "dm7",
+  "geometry_evaluation": "sphere_analytic_v1",
+  "task_success": true,
+  "hard_constraints": {
+    "robot_table_penetration_le_3mm": true,
+    "limited_joints_within_2mrad_or_2mm": true,
+    "solver_no_warnings": true,
+    "waist_coupling_within_1mrad": true,
+    "gripper_coupling_within_2mrad": true
+  },
+  "predicates": [
+    {
+      "id": "lift_with_contact_00",
+      "kind": "lift_with_contact",
+      "passed": true,
+      "measurements": {
+        "max_lift_m": 0.03582118903721587,
+        "max_lift_with_hand_contact_m": 0.03582118903721587
+      }
+    },
+    {
+      "id": "lift_with_contact_01",
+      "kind": "lift_with_contact",
+      "passed": true,
+      "measurements": {
+        "max_lift_m": 0.11314129506700399,
+        "max_lift_with_hand_contact_m": 0.11314129506700399
+      }
+    },
+    {
+      "id": "inside_region_02",
+      "kind": "inside_region",
+      "passed": true,
+      "measurements": {
+        "reference_frame": "reference_object_local",
+        "reference_object": "stack_region",
+        "object": "blue_cube",
+        "evaluation_window_source_time_s": [
+          29.3699999999769,
+          29.56749999997644
+        ],
+        "final_reference_axes_in_world": [
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+            0.0
+          ],
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+            1.0,
+            0.0
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+          [
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+            1.0
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+        "final_object_extent_min_m": [
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+          -0.043685064539545015,
+          -0.0018042270195646193
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+        "final_object_extent_max_m": [
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+          0.01200045162158947,
+          0.04820276441939675
+        ],
+        "final_signed_xy_clearance_m": [
+          0.05709093025048669,
+          0.03831493546045499
+        ],
+        "measurement_basis": "same bounding extents, frame, tolerance and window as the frozen predicate",
+        "maximum_relation_violation_m": 0.0
+      }
+    },
+    {
+      "id": "stable_supported_on_03",
+      "kind": "stable_supported_on",
+      "passed": true,
+      "measurements": {
+        "support_policy": "uniform_box_center_margin_v1",
+        "minimum_center_margin_clearance_m": 0.016122335882181527,
+        "minimum_height_clearance_m": 0.0046056934163663165,
+        "maximum_relation_violation_m": 0.0,
+        "full_footprint_alignment_diagnostic": {
+          "reference_frame": "reference_object_local",
+          "reference_object": "blue_cube",
+          "object": "purple_cube",
+          "evaluation_window_source_time_s": [
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+            29.56749999997644
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+          "final_reference_axes_in_world": [
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+              2.400229177679528e-05
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+            [
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+              3.6749740605964295e-05,
+              0.999999994011467
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+            -0.02820857355212509,
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+            0.03584056776715724,
+            0.07461791244158503
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+            -0.0061342692358392,
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+          "measurement_basis": "same bounding extents, frame, tolerance and window as the frozen predicate",
+          "final_signed_bottom_to_support_top_m": -0.00039430658363368357,
+          "final_signed_support_height_clearance_m": 0.0046056934163663165,
+          "maximum_relation_violation_m": 0.00888453358391978
+        },
+        "contact_release_and_stability_required_separately": true
+      }
+    },
+    {
+      "id": "object_contact_04",
+      "kind": "object_contact",
+      "passed": true,
+      "measurements": {
+        "contact_fraction": 1.0
+      }
+    },
+    {
+      "id": "base_placed_before_stack_05",
+      "kind": "base_placed_before_stack",
+      "passed": true,
+      "measurements": {
+        "base_placement_observed": true,
+        "stack_contact_observed": true,
+        "first_base_placed_s": 5.319999999999771,
+        "first_upper_supported_contact_s": 17.950000000003516,
+        "order_observable": true,
+        "basis": "first qualifying simulator states; a missing event is not a reversed order"
+      }
+    },
+    {
+      "id": "stable_06",
+      "kind": "stable",
+      "passed": true,
+      "measurements": {
+        "maximum_motion_m": 0.00036327791299809603
+      }
+    },
+    {
+      "id": "released_07",
+      "kind": "released",
+      "passed": true,
+      "measurements": {}
+    }
+  ],
+  "failed_predicates": [],
+  "hard_failures": [],
+  "rank": [
+    0,
+    0
+  ],
+  "state_source": "simulator_numeric_trace",
+  "render_calls": 0
+}

150case/success_cases/stack_blocks_ep000041/historical_replay/execute/task_completion_v1_task_evaluation.json

@@ -0,0 +1,180 @@
+{
+  "schema": "rssr.task.evaluation.v1",
+  "contract_id": "384b58878e503a83864345fb822c734608af6af402e14d10824d291f7845a648",
+  "task_id": "dm7",
+  "geometry_evaluation": "sphere_analytic_v1",
+  "task_success": true,
+  "hard_constraints": {
+    "robot_table_penetration_le_3mm": true,
+    "limited_joints_within_2mrad_or_2mm": true,
+    "solver_no_warnings": true,
+    "waist_coupling_within_1mrad": true,
+    "gripper_coupling_within_2mrad": true
+  },
+  "predicates": [
+    {
+      "id": "lift_with_contact_00",
+      "kind": "lift_with_contact",
+      "passed": true,
+      "measurements": {
+        "max_lift_m": 0.03582118903721587,
+        "max_lift_with_hand_contact_m": 0.03582118903721587
+      }
+    },
+    {
+      "id": "lift_with_contact_01",
+      "kind": "lift_with_contact",
+      "passed": true,
+      "measurements": {
+        "max_lift_m": 0.11314129506700399,
+        "max_lift_with_hand_contact_m": 0.11314129506700399
+      }
+    },
+    {
+      "id": "inside_region_02",
+      "kind": "inside_region",
+      "passed": true,
+      "measurements": {
+        "reference_frame": "reference_object_local",
+        "reference_object": "stack_region",
+        "object": "blue_cube",
+        "evaluation_window_source_time_s": [
+          29.3699999999769,
+          29.56749999997644
+        ],
+        "final_reference_axes_in_world": [
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+            0.0
+          ],
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+            1.0,
+            0.0
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+          [
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+            0.0,
+            1.0
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+          -0.020780584646978337,
+          -0.043685064539545015,
+          -0.0018042270195646193
+        ],
+        "final_object_extent_max_m": [
+          0.034909069749513306,
+          0.01200045162158947,
+          0.04820276441939675
+        ],
+        "final_signed_xy_clearance_m": [
+          0.05709093025048669,
+          0.03831493546045499
+        ],
+        "measurement_basis": "same bounding extents, frame, tolerance and window as the frozen predicate",
+        "maximum_relation_violation_m": 0.0
+      }
+    },
+    {
+      "id": "stable_supported_on_03",
+      "kind": "stable_supported_on",
+      "passed": true,
+      "measurements": {
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+        "minimum_center_margin_clearance_m": 0.016122335882181527,
+        "minimum_height_clearance_m": 0.0046056934163663165,
+        "maximum_relation_violation_m": 0.0,
+        "full_footprint_alignment_diagnostic": {
+          "reference_frame": "reference_object_local",
+          "reference_object": "blue_cube",
+          "object": "purple_cube",
+          "evaluation_window_source_time_s": [
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+            29.56749999997644
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+            0.024605693416366318
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+          "measurement_basis": "same bounding extents, frame, tolerance and window as the frozen predicate",
+          "final_signed_bottom_to_support_top_m": -0.00039430658363368357,
+          "final_signed_support_height_clearance_m": 0.0046056934163663165,
+          "maximum_relation_violation_m": 0.00888453358391978
+        },
+        "contact_release_and_stability_required_separately": true
+      }
+    },
+    {
+      "id": "object_contact_04",
+      "kind": "object_contact",
+      "passed": true,
+      "measurements": {
+        "contact_fraction": 1.0
+      }
+    },
+    {
+      "id": "base_placed_before_stack_05",
+      "kind": "base_placed_before_stack",
+      "passed": true,
+      "measurements": {
+        "base_placement_observed": true,
+        "stack_contact_observed": true,
+        "first_base_placed_s": 5.319999999999771,
+        "first_upper_supported_contact_s": 17.950000000003516,
+        "order_observable": true,
+        "basis": "first qualifying simulator states; a missing event is not a reversed order"
+      }
+    },
+    {
+      "id": "stable_06",
+      "kind": "stable",
+      "passed": true,
+      "measurements": {
+        "maximum_motion_m": 0.00036327791299809603
+      }
+    },
+    {
+      "id": "released_07",
+      "kind": "released",
+      "passed": true,
+      "measurements": {}
+    }
+  ],
+  "failed_predicates": [],
+  "hard_failures": [],
+  "rank": [
+    0,
+    0
+  ],
+  "state_source": "simulator_numeric_trace",
+  "render_calls": 0
+}

150case/success_cases/stack_blocks_ep000041/historical_replay/execute/task_contract.json

@@ -0,0 +1,98 @@
+{
+  "schema": "rssr.task.contract.v1",
+  "task_id": "dm7",
+  "scene_sha256": "f6132caa9cb84605828f8cdbd3ffbc6cd25972484fded8fbcf6598aca4df7c9d",
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  },
+  "predicates": [
+    {
+      "id": "lift_with_contact_00",
+      "kind": "lift_with_contact",
+      "object": "blue_cube",
+      "hand": "left",
+      "height_m": 0.025
+    },
+    {
+      "id": "lift_with_contact_01",
+      "kind": "lift_with_contact",
+      "object": "purple_cube",
+      "hand": "right",
+      "height_m": 0.025
+    },
+    {
+      "id": "inside_region_02",
+      "kind": "inside_region",
+      "object": "blue_cube",
+      "region": "stack_region",
+      "tolerance_m": 0.002
+    },
+    {
+      "id": "stable_supported_on_03",
+      "kind": "stable_supported_on",
+      "object": "purple_cube",
+      "support": "blue_cube",
+      "center_margin_m": 0.005,
+      "z_tolerance_m": 0.005
+    },
+    {
+      "id": "object_contact_04",
+      "kind": "object_contact",
+      "object": "purple_cube",
+      "support": "blue_cube",
+      "window_s": 0.2,
+      "minimum_fraction": 0.8
+    },
+    {
+      "id": "base_placed_before_stack_05",
+      "kind": "base_placed_before_stack",
+      "base": "blue_cube",
+      "upper": "purple_cube",
+      "region": "stack_region",
+      "support_policy": "uniform_box_center_margin_v1"
+    },
+    {
+      "id": "stable_06",
+      "kind": "stable",
+      "objects": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "window_s": 1.0,
+      "max_motion_m": 0.003
+    },
+    {
+      "id": "released_07",
+      "kind": "released",
+      "objects": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "window_s": 1.0
+    }
+  ],
+  "geometry_evaluation": "sphere_analytic_v1",
+  "sim1_success_required": false,
+  "objects_forced_allowed": false,
+  "hard_constraints": [
+    "robot_table_penetration_le_3mm",
+    "limited_joints_within_2mrad_or_2mm",
+    "solver_no_warnings",
+    "waist_coupling_within_1mrad",
+    "gripper_coupling_within_2mrad"
+  ],
+  "model_fidelity_policy": "v17; simulation assumption, not hardware calibration",
+  "contract_id": "384b58878e503a83864345fb822c734608af6af402e14d10824d291f7845a648"
+}

150case/success_cases/stack_blocks_ep000041/historical_replay/execute/task_evaluation.json

@@ -0,0 +1,180 @@
+{
+  "schema": "rssr.task.evaluation.v1",
+  "contract_id": "384b58878e503a83864345fb822c734608af6af402e14d10824d291f7845a648",
+  "task_id": "dm7",
+  "geometry_evaluation": "sphere_analytic_v1",
+  "task_success": true,
+  "hard_constraints": {
+    "robot_table_penetration_le_3mm": true,
+    "limited_joints_within_2mrad_or_2mm": true,
+    "solver_no_warnings": true,
+    "waist_coupling_within_1mrad": true,
+    "gripper_coupling_within_2mrad": true
+  },
+  "predicates": [
+    {
+      "id": "lift_with_contact_00",
+      "kind": "lift_with_contact",
+      "passed": true,
+      "measurements": {
+        "max_lift_m": 0.03582118903721587,
+        "max_lift_with_hand_contact_m": 0.03582118903721587
+      }
+    },
+    {
+      "id": "lift_with_contact_01",
+      "kind": "lift_with_contact",
+      "passed": true,
+      "measurements": {
+        "max_lift_m": 0.11314129506700399,
+        "max_lift_with_hand_contact_m": 0.11314129506700399
+      }
+    },
+    {
+      "id": "inside_region_02",
+      "kind": "inside_region",
+      "passed": true,
+      "measurements": {
+        "reference_frame": "reference_object_local",
+        "reference_object": "stack_region",
+        "object": "blue_cube",
+        "evaluation_window_source_time_s": [
+          29.3699999999769,
+          29.56749999997644
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+          0.01200045162158947,
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+          0.05709093025048669,
+          0.03831493546045499
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+        "measurement_basis": "same bounding extents, frame, tolerance and window as the frozen predicate",
+        "maximum_relation_violation_m": 0.0
+      }
+    },
+    {
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+      "kind": "stable_supported_on",
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+      "measurements": {
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+        "minimum_center_margin_clearance_m": 0.016122335882181527,
+        "minimum_height_clearance_m": 0.0046056934163663165,
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+          "object": "purple_cube",
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+          "final_signed_bottom_to_support_top_m": -0.00039430658363368357,
+          "final_signed_support_height_clearance_m": 0.0046056934163663165,
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+    {
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+      "kind": "object_contact",
+      "passed": true,
+      "measurements": {
+        "contact_fraction": 1.0
+      }
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+}

150case/success_cases/stack_blocks_ep000041/historical_replay/receipt.json

@@ -0,0 +1,140 @@
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150case/success_cases/stack_blocks_ep000041/historical_replay/replay/gripper_action_audit.json

@@ -0,0 +1,5 @@
+{
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+}

150case/success_cases/stack_blocks_ep000041/historical_replay/replay/report.json

@@ -0,0 +1,3517 @@
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+        "astribot_head_joint_1": 0.0,
+        "astribot_head_joint_2": 0.0,
+        "astribot_arm_left_joint_1": 0.0,
+        "astribot_arm_left_joint_2": 0.0,
+        "astribot_arm_left_joint_3": 0.0,
+        "astribot_arm_left_joint_4": 8.08339974552623e-05,
+        "astribot_arm_left_joint_5": 0.0,
+        "astribot_arm_left_joint_6": 0.0,
+        "astribot_arm_left_joint_7": 0.0,
+        "astribot_arm_right_joint_1": 0.0,
+        "astribot_arm_right_joint_2": 0.0,
+        "astribot_arm_right_joint_3": 0.0,
+        "astribot_arm_right_joint_4": 0.0,
+        "astribot_arm_right_joint_5": 0.0,
+        "astribot_arm_right_joint_6": 0.0,
+        "astribot_arm_right_joint_7": 0.0
+      },
+      "maximum_gripper_excess_rad": 0.0,
+      "maximum_non_gripper_excess_native_units": 8.08339974552623e-05,
+      "manual_inspection_required": false
+    }
+  },
+  "judgment_version": "task_completion_v1",
+  "runtime_audit": {
+    "directory": "/pfs/yichen/RSSR/pipeline/cobot150_runtime_v80_task_completion_20260923",
+    "pilot_physics_sha256": "ab45bf7deae4ebacfb4b36cb3f2986b8354bf7fee6f6e6edae00cab096355841",
+    "event_command_overlay_enabled": false,
+    "gripper_limit_peak_source": "every physical step; contiguous >2mrad episodes per joint and bound"
+  },
+  "gripper_limit_peak_events": []
+}

150case/success_cases/stack_blocks_ep000041/historical_replay/replay/scene.xml

@@ -0,0 +1,482 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicitfast" timestep="0.0005" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
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+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+    <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" />
+    <mesh name="rssr_equivalent_purple_cube_geom" vertex="-0.025 -0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 -0.025 -0.025 0.025 0.025 0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025 0.025 -0.025 0.025 0.025 0.025" />
+  </asset>
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+    <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>
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+    <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" />
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+    <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">
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+      <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">
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+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
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+      <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">
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+          <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" />
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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">
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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">
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+                  <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="1 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                <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=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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" damping=".05" armature=".0002" />
+                                    <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                    <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 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                  </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" damping=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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" damping=".05" armature=".0002" />
+                                    <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                    <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="1 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                  </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" damping=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                </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="1 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                <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=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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" damping=".05" armature=".0002" />
+                                    <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                    <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 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                  </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" damping=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                  <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" damping=".05" armature=".0002" />
+                                    <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                    <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="1 .01 .002" solimp="0.95 0.99 0.001" solref=".006 1" priority="1" contype="8" conaffinity="14" condim="4" />
+                                  </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" damping=".05" armature=".0002" />
+                                  <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" friction="1 .01 .002" condim="4" solref=".006 1" />
+                                </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" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" size="0.6 0.4 0.025" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" size="0.025 0.025 0.35" />
+      <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>
+    <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.344656960977 -0.790217915445 0.7753" quat="-0.452317928445 0 0 0.891856766307">
+      <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="-0.34697127372 -0.78016932615 0.7753" quat="0.874164507932 0 0 -0.485629913691">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="mesh" 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" mesh="rssr_equivalent_purple_cube_geom" />
+      <inertial pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" mass="0.04" diaginertia="1.666666666666667e-05 1.666666666666667e-05 1.666666666666667e-05" />
+    </body>
+    <body name="stack_region" pos="-0.000386883272147 -0.671380755489 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>
+  <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="-2 2" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -1" 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="0.001 1.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+  </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="-2 2" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -1" 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="0.001 1.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+    <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" solref="0.001 1.0" solimp="0.9 0.95 0.001 0.5 2.0" />
+  </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" />
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>

150case/success_cases/stack_blocks_ep000041/historical_replay/replay/source_grasp_events.json

@@ -0,0 +1,30 @@
+{
+  "left": [
+    {
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150case/success_cases/stack_blocks_ep000041/historical_replay/replay/strict_v1_task_evaluation.json

@@ -0,0 +1,180 @@
+{
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+}

150case/success_cases/stack_blocks_ep000041/historical_replay/replay/task_completion_v1_task_evaluation.json

@@ -0,0 +1,180 @@
+{
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+}