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  "compiled": {
    "name": "ManiSkill PickCube PPO reference evaluation",
    "urdf": "<robot name=\"ManiSkill PickCube PPO reference evaluation\">\n  <link name=\"panda_link0\">\n    <collision>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/collision/link0.stl\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"-0.041018 -0.00014 0.049974\" />\n      <mass value=\"0.629769\" />\n      <inertia ixx=\"0.00315\" ixy=\"8.2904e-07\" ixz=\"0.00015\" iyy=\"0.00388\" iyz=\"8.2299e-06\" izz=\"0.004285\" />\n    </inertial>\n  </link>\n  <link name=\"panda_link1\">\n    <collision>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/collision/link1.stl\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"0.003875 0.002081 -0.04762\" />\n      <mass value=\"4.970684\" />\n      <inertia ixx=\"0.70337\" ixy=\"-0.000139\" ixz=\"0.006772\" iyy=\"0.70661\" iyz=\"0.019169\" izz=\"0.009117\" />\n    </inertial>\n  </link>\n  <joint name=\"panda_joint1\" type=\"revolute\">\n    <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-2.8973\" soft_upper_limit=\"2.8973\" />\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0.333\" />\n    <parent link=\"panda_link0\" />\n    <child link=\"panda_link1\" />\n    <axis xyz=\"0 0 1\" />\n    <limit effort=\"87\" lower=\"-2.8973\" upper=\"2.8973\" velocity=\"2.1750\" />\n    <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.0\" mu_coulomb=\"0\" mu_viscous=\"16\" />\n  </joint>\n  <link name=\"panda_link2\">\n    <collision>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/collision/link2.stl\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"-0.003141 -0.02872  0.003495\" />\n      <mass value=\"0.646926\" />\n      <inertia ixx=\"0.007962\" ixy=\"-0.003925\" ixz=\"0.010254\" iyy=\"0.02811\" iyz=\"0.000704\" izz=\"0.025995\" />\n    </inertial>\n  </link>\n  <joint name=\"panda_joint2\" type=\"revolute\">\n    <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-1.7628\" soft_upper_limit=\"1.7628\" />\n    <origin rpy=\"-1.5707963267948966 0 0\" xyz=\"0 0 0\" />\n    <parent link=\"panda_link1\" />\n    <child link=\"panda_link2\" />\n    <axis xyz=\"0 0 1\" />\n    <limit effort=\"87\" lower=\"-1.7628\" upper=\"1.7628\" velocity=\"2.1750\" />\n    <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.0\" mu_coulomb=\"0\" mu_viscous=\"16\" />\n  </joint>\n  <link name=\"panda_link3\">\n    <collision>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/collision/link3.stl\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"2.7518e-02 3.9252e-02 -6.6502e-02\" />\n      <mass value=\"3.228604\" />\n      <inertia ixx=\"0.037242\" ixy=\"-0.004761\" ixz=\"-0.011396\" iyy=\"0.036155\" iyz=\"-0.012805\" izz=\"0.01083\" />\n    </inertial>\n  </link>\n  <joint name=\"panda_joint3\" type=\"revolute\">\n    <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-2.8973\" soft_upper_limit=\"2.8973\" />\n    <origin rpy=\"1.5707963267948966 0 0\" xyz=\"0 -0.316 0\" />\n    <parent link=\"panda_link2\" />\n    <child link=\"panda_link3\" />\n    <axis xyz=\"0 0 1\" />\n    <limit effort=\"87\" lower=\"-2.8973\" upper=\"2.8973\" velocity=\"2.1750\" />\n    <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.0\" mu_coulomb=\"0\" mu_viscous=\"16\" />\n  </joint>\n  <link name=\"panda_link4\">\n    <collision>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/collision/link4.stl\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"-5.317e-02 1.04419e-01 2.7454e-02\" />\n      <mass value=\"3.587895\" />\n      <inertia ixx=\"0.025853\" ixy=\"0.007796\" ixz=\"-0.001332\" iyy=\"0.019552\" iyz=\"0.008641\" izz=\"0.028323\" />\n    </inertial>\n  </link>\n  <joint name=\"panda_joint4\" type=\"revolute\">\n    <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-3.0718\" soft_upper_limit=\"-0.0698\" />\n    <origin rpy=\"1.5707963267948966 0 0\" xyz=\"0.0825 0 0\" />\n    <parent link=\"panda_link3\" />\n    <child link=\"panda_link4\" />\n    <axis xyz=\"0 0 1\" />\n    <limit effort=\"87\" lower=\"-3.0718\" upper=\"-0.0698\" velocity=\"2.1750\" />\n    <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.0\" mu_coulomb=\"0\" mu_viscous=\"16\" />\n  </joint>\n  <link name=\"panda_link5\">\n    <collision>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/collision/link5.stl\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"-1.1953e-02 4.1065e-02 -3.8437e-02\" />\n      <mass value=\"1.225946\" />\n      <inertia ixx=\"0.035549\" ixy=\"-0.002117\" ixz=\"-0.004037\" iyy=\"0.029474\" iyz=\"0.000229\" izz=\"0.008627\" />\n    </inertial>\n  </link>\n  <joint name=\"panda_joint5\" type=\"revolute\">\n    <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-2.8973\" soft_upper_limit=\"2.8973\" />\n    <origin rpy=\"-1.5707963267948966 0 0\" xyz=\"-0.0825 0.384 0\" />\n    <parent link=\"panda_link4\" />\n    <child link=\"panda_link5\" />\n    <axis xyz=\"0 0 1\" />\n    <limit effort=\"12\" lower=\"-2.8973\" upper=\"2.8973\" velocity=\"2.6100\" />\n    <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.0\" mu_coulomb=\"0\" mu_viscous=\"16\" />\n  </joint>\n  <link name=\"panda_link6\">\n    <collision>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/collision/link6.stl\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"6.0149e-02 -1.4117e-02 -1.0517e-02\" />\n      <mass value=\"1.666555\" />\n      <inertia ixx=\"0.001964\" ixy=\"0.000109\" ixz=\"-0.001158\" iyy=\"0.004354\" iyz=\"0.000341\" izz=\"0.005433\" />\n    </inertial>\n  </link>\n  <joint name=\"panda_joint6\" type=\"revolute\">\n    <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-0.0175\" soft_upper_limit=\"3.7525\" />\n    <origin rpy=\"1.5707963267948966 0 0\" xyz=\"0 0 0\" />\n    <parent link=\"panda_link5\" />\n    <child link=\"panda_link6\" />\n    <axis xyz=\"0 0 1\" />\n    <limit effort=\"12\" lower=\"-0.0175\" upper=\"3.7525\" velocity=\"2.6100\" />\n    <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.0\" mu_coulomb=\"0\" mu_viscous=\"16\" />\n  </joint>\n  <link name=\"panda_link7\">\n    <collision>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/collision/link7.stl\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"1.0517e-02 -4.252e-03 6.1597e-02\" />\n      <mass value=\"0.735522\" />\n      <inertia ixx=\"0.012516\" ixy=\"-0.000428\" ixz=\"-0.001196\" iyy=\"0.010027\" iyz=\"-0.000741\" izz=\"0.004815\" />\n    </inertial>\n  </link>\n  <joint name=\"panda_joint7\" type=\"revolute\">\n    <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-2.8973\" soft_upper_limit=\"2.8973\" />\n    <origin rpy=\"1.5707963267948966 0 0\" xyz=\"0.088 0 0\" />\n    <parent link=\"panda_link6\" />\n    <child link=\"panda_link7\" />\n    <axis xyz=\"0 0 1\" />\n    <limit effort=\"12\" lower=\"-2.8973\" upper=\"2.8973\" velocity=\"2.6100\" />\n    <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.0\" mu_coulomb=\"0\" mu_viscous=\"16\" />\n  </joint>\n  <link name=\"panda_link8\" />\n  <joint name=\"panda_joint8\" type=\"fixed\">\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0.107\" />\n    <parent link=\"panda_link7\" />\n    <child link=\"panda_link8\" />\n  </joint>\n  <joint name=\"panda_hand_joint\" type=\"fixed\">\n    <parent link=\"panda_link8\" />\n    <child link=\"panda_hand\" />\n    <origin rpy=\"0 0 -0.7853981633974483\" xyz=\"0 0 0\" />\n  </joint>\n  <link name=\"panda_hand\">\n    <collision>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/collision/hand.stl\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"-0.01 0 0.03\" />\n      <mass value=\"0.73\" />\n      <inertia ixx=\"0.001\" ixy=\"0\" ixz=\"0\" iyy=\"0.0025\" iyz=\"0\" izz=\"0.0017\" />\n    </inertial>\n  </link>\n  \n  <link name=\"panda_hand_tcp\" />\n  <joint name=\"panda_hand_tcp_joint\" type=\"fixed\">\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0.1034\" />\n    <parent link=\"panda_hand\" />\n    <child link=\"panda_hand_tcp\" />\n  </joint>\n  <link name=\"panda_leftfinger_pad\" />\n  <joint name=\"panda_leftfinger_pad_joint\" type=\"fixed\">\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0.0455\" />\n    <parent link=\"panda_leftfinger\" />\n    <child link=\"panda_leftfinger_pad\" />\n  </joint>\n  <link name=\"panda_rightfinger_pad\" />\n  <joint name=\"panda_rightfinger_pad_joint\" type=\"fixed\">\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0.0455\" />\n    <parent link=\"panda_rightfinger\" />\n    <child link=\"panda_rightfinger_pad\" />\n  </joint>\n  <link name=\"panda_leftfinger\">\n    <collision>\n      <origin rpy=\"0 0 0\" xyz=\"0 18.5e-3 11e-3\" />\n      <geometry>\n        <box size=\"22e-3 15e-3 20e-3\" />\n      </geometry>\n    </collision>\n    \n    <collision>\n      <origin rpy=\"0 0 0\" xyz=\"0 6.8e-3 2.2e-3\" />\n      <geometry>\n        <box size=\"22e-3 8.8e-3 3.8e-3\" />\n      </geometry>\n    </collision>\n    \n    <collision>\n      <origin rpy=\"0.5235987755982988 0 0\" xyz=\"0 15.9e-3 28.35e-3\" />\n      <geometry>\n        <box size=\"17.5e-3 7e-3 23.5e-3\" />\n      </geometry>\n    </collision>\n    \n    <collision>\n      <origin rpy=\"0 0 0\" xyz=\"0 7.58e-3 45.25e-3\" />\n      <geometry>\n        <box size=\"17.5e-3 15.2e-3 18.5e-3\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n      <mass value=\"0.015\" />\n      <inertia ixx=\"2.3749999999999997e-06\" ixy=\"0\" ixz=\"0\" iyy=\"2.3749999999999997e-06\" iyz=\"0\" izz=\"7.5e-07\" />\n    </inertial>\n  </link>\n  <link name=\"panda_rightfinger\">\n    <collision>\n      <origin rpy=\"0 0 0\" xyz=\"0 -18.5e-3 11e-3\" />\n      <geometry>\n        <box size=\"22e-3 15e-3 20e-3\" />\n      </geometry>\n    </collision>\n    \n    <collision>\n      <origin rpy=\"0 0 0\" xyz=\"0 -6.8e-3 2.2e-3\" />\n      <geometry>\n        <box size=\"22e-3 8.8e-3 3.8e-3\" />\n      </geometry>\n    </collision>\n    \n    <collision>\n      <origin rpy=\"-0.5235987755982988 0 0\" xyz=\"0 -15.9e-3 28.35e-3\" />\n      <geometry>\n        <box size=\"17.5e-3 7e-3 23.5e-3\" />\n      </geometry>\n    </collision>\n    \n    <collision>\n      <origin rpy=\"0 0 0\" xyz=\"0 -7.58e-3 45.25e-3\" />\n      <geometry>\n        <box size=\"17.5e-3 15.2e-3 18.5e-3\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n      <mass value=\"0.015\" />\n      <inertia ixx=\"2.3749999999999997e-06\" ixy=\"0\" ixz=\"0\" iyy=\"2.3749999999999997e-06\" iyz=\"0\" izz=\"7.5e-07\" />\n    </inertial>\n  </link>\n  <joint name=\"panda_finger_joint1\" type=\"prismatic\">\n    <parent link=\"panda_hand\" />\n    <child link=\"panda_leftfinger\" />\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0.0584\" />\n    <axis xyz=\"0 1 0\" />\n    <limit effort=\"100\" lower=\"0.0\" upper=\"0.04\" velocity=\"0.2\" />\n    <dynamics damping=\"0.3\" />\n  </joint>\n  <joint name=\"panda_finger_joint2\" type=\"prismatic\">\n    <parent link=\"panda_hand\" />\n    <child link=\"panda_rightfinger\" />\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0.0584\" />\n    <axis xyz=\"0 -1 0\" />\n    <limit effort=\"100\" lower=\"0.0\" upper=\"0.04\" velocity=\"0.2\" />\n    <dynamics damping=\"0.3\" />\n  </joint>\n<link name=\"world\" /><joint name=\"frame_panda_link0\" type=\"fixed\"><origin xyz=\"-0.615000009537 2.91038304567e-10 -4.09781932831e-08\" rpy=\"5.4441349561e-10 -6.61142296465e-09 -3.53506463319e-11\" /><parent link=\"world\" /><child link=\"panda_link0\" /></joint><link name=\"table-workspace\" /><joint name=\"frame_table-workspace\" type=\"fixed\"><origin xyz=\"-0.119999997318 0 -0.919642925262\" rpy=\"0 0 1.57079632679\" /><parent link=\"world\" /><child link=\"table-workspace\" /></joint><link name=\"ground\" /><joint name=\"frame_ground\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"world\" /><child link=\"ground\" /></joint><link name=\"cube\" /><joint name=\"frame_cube\" type=\"fixed\"><origin xyz=\"0.078051827848 -0.0945095568895 0.019999999553\" rpy=\"0 0 -1.7743600724\" /><parent link=\"world\" /><child link=\"cube\" /></joint><link name=\"goal_site\" /><joint name=\"frame_goal_site\" type=\"fixed\"><origin xyz=\"-0.0505197048187 -0.00218306481838 0.24728795886\" rpy=\"0 0 0\" /><parent link=\"world\" /><child link=\"goal_site\" /></joint><link name=\"visual_panda_link0_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/visual/link0.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link0_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link0\" /><child link=\"visual_panda_link0_0\" /></joint><link name=\"visual_panda_link1_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/visual/link1.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link1_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link1\" /><child link=\"visual_panda_link1_0\" /></joint><link name=\"visual_panda_link2_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/visual/link2.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link2_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link2\" /><child link=\"visual_panda_link2_0\" /></joint><link name=\"visual_panda_link3_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/visual/link3.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link3_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link3\" /><child link=\"visual_panda_link3_0\" /></joint><link name=\"visual_panda_link4_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/visual/link4.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link4_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link4\" /><child link=\"visual_panda_link4_0\" /></joint><link name=\"visual_panda_link5_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/visual/link5.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link5_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link5\" /><child link=\"visual_panda_link5_0\" /></joint><link name=\"visual_panda_link6_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/visual/link6.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link6_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link6\" /><child link=\"visual_panda_link6_0\" /></joint><link name=\"visual_panda_link7_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/visual/link7.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link7_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link7\" /><child link=\"visual_panda_link7_0\" /></joint><link name=\"visual_panda_hand_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/visual/hand.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_hand_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_hand\" /><child link=\"visual_panda_hand_0\" /></joint><link name=\"visual_panda_leftfinger_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/visual/finger.glb\" />\n      </geometry>\n    </visual>\n    \n    </link><joint name=\"visual_panda_leftfinger_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_leftfinger\" /><child link=\"visual_panda_leftfinger_0\" /></joint><link name=\"visual_panda_rightfinger_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/assets/robots/panda/franka_description/meshes/visual/finger.glb\" />\n      </geometry>\n    </visual>\n    \n    </link><joint name=\"visual_panda_rightfinger_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 3.14159265359\" /><parent link=\"panda_rightfinger\" /><child link=\"visual_panda_rightfinger_0\" /></joint><link name=\"visual_table-workspace_0\"><visual><geometry><mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/utils/scene_builder/table/assets/table.glb\" scale=\"1.75 1.75 1.75\" /></geometry><material name=\"table-workspace_0\"><color rgba=\"1 1 1 1\" /></material></visual></link><joint name=\"visual_table-workspace_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 1.57079632679\" /><parent link=\"table-workspace\" /><child link=\"visual_table-workspace_0\" /></joint><link name=\"visual_ground_0\"><visual><geometry><mesh filename=\"/worlds/maniskill-ppo/scenes/ground.obj\" scale=\"1 1 1\" /></geometry><material name=\"ground_0\"><texture filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/baab60ede2e89167c1b7aaed41a9aa8e690a9d1e/mani_skill/utils/building/assets/grid_texture.png\" /><color rgba=\"1 1 1 1\" /></material></visual></link><joint name=\"visual_ground_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"ground\" /><child link=\"visual_ground_0\" /></joint><link name=\"visual_cube_0\"><visual><geometry><box size=\"0.0399999991059 0.0399999991059 0.0399999991059\" /></geometry><material name=\"cube_0\"><color rgba=\"1 0 0 1\" /></material></visual></link><joint name=\"visual_cube_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"cube\" /><child link=\"visual_cube_0\" /></joint><link name=\"visual_goal_site_0\"><visual><geometry><sphere radius=\"0.02500000037252903\" /></geometry><material name=\"goal_site_0\"><color rgba=\"0 1 0 1\" /></material></visual></link><joint name=\"visual_goal_site_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"goal_site\" /><child link=\"visual_goal_site_0\" /></joint></robot>",
    "geoms": [
      {
        "name": "visual_panda_link0_0",
        "label": "panda_link0",
        "type": "mesh",
        "parent": "panda_link0",
        "origin": {
          "xyz": [
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          "rpy": [
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        "plane": false,
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      },
      {
        "name": "visual_panda_link1_0",
        "label": "panda_link1",
        "type": "mesh",
        "parent": "panda_link1",
        "origin": {
          "xyz": [
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          "rpy": [
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      {
        "name": "visual_panda_link2_0",
        "label": "panda_link2",
        "type": "mesh",
        "parent": "panda_link2",
        "origin": {
          "xyz": [
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            0,
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          "rpy": [
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      },
      {
        "name": "visual_panda_link3_0",
        "label": "panda_link3",
        "type": "mesh",
        "parent": "panda_link3",
        "origin": {
          "xyz": [
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          "rpy": [
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      },
      {
        "name": "visual_panda_link4_0",
        "label": "panda_link4",
        "type": "mesh",
        "parent": "panda_link4",
        "origin": {
          "xyz": [
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      {
        "name": "visual_panda_link5_0",
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        "origin": {
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        "size": [
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        "name": "visual_goal_site_0",
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        "plane": false,
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        "name": "panda_hand_tcp",
        "link": "panda_hand_tcp"
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        "name": "panda_leftfinger",
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      },
      {
        "name": "panda_rightfinger_pad",
        "link": "panda_rightfinger_pad"
      },
      {
        "name": "table-workspace",
        "link": "table-workspace"
      },
      {
        "name": "ground",
        "link": "ground"
      },
      {
        "name": "cube",
        "link": "cube"
      },
      {
        "name": "goal_site",
        "link": "goal_site"
      }
    ],
    "mocapBodies": [],
    "unactuated": [],
    "skipped": [],
    "missing": [],
    "hierarchy": {
      "name": "world",
      "kind": "body",
      "children": [
        {
          "name": "panda_link0",
          "kind": "body",
          "children": [
            {
              "name": "visual_panda_link0_0",
              "kind": "geom",
              "geom": "visual_panda_link0_0",
              "parent": "panda_link0",
              "children": []
            },
            {
              "name": "panda_link1",
              "kind": "body",
              "children": [
                {
                  "name": "visual_panda_link1_0",
                  "kind": "geom",
                  "geom": "visual_panda_link1_0",
                  "parent": "panda_link1",
                  "children": []
                },
                {
                  "name": "panda_link2",
                  "kind": "body",
                  "children": [
                    {
                      "name": "visual_panda_link2_0",
                      "kind": "geom",
                      "geom": "visual_panda_link2_0",
                      "parent": "panda_link2",
                      "children": []
                    },
                    {
                      "name": "panda_link3",
                      "kind": "body",
                      "children": [
                        {
                          "name": "visual_panda_link3_0",
                          "kind": "geom",
                          "geom": "visual_panda_link3_0",
                          "parent": "panda_link3",
                          "children": []
                        },
                        {
                          "name": "panda_link4",
                          "kind": "body",
                          "children": [
                            {
                              "name": "visual_panda_link4_0",
                              "kind": "geom",
                              "geom": "visual_panda_link4_0",
                              "parent": "panda_link4",
                              "children": []
                            },
                            {
                              "name": "panda_link5",
                              "kind": "body",
                              "children": [
                                {
                                  "name": "visual_panda_link5_0",
                                  "kind": "geom",
                                  "geom": "visual_panda_link5_0",
                                  "parent": "panda_link5",
                                  "children": []
                                },
                                {
                                  "name": "panda_link6",
                                  "kind": "body",
                                  "children": [
                                    {
                                      "name": "visual_panda_link6_0",
                                      "kind": "geom",
                                      "geom": "visual_panda_link6_0",
                                      "parent": "panda_link6",
                                      "children": []
                                    },
                                    {
                                      "name": "panda_link7",
                                      "kind": "body",
                                      "children": [
                                        {
                                          "name": "visual_panda_link7_0",
                                          "kind": "geom",
                                          "geom": "visual_panda_link7_0",
                                          "parent": "panda_link7",
                                          "children": []
                                        },
                                        {
                                          "name": "panda_link8",
                                          "kind": "body",
                                          "children": [
                                            {
                                              "name": "panda_hand",
                                              "kind": "body",
                                              "children": [
                                                {
                                                  "name": "visual_panda_hand_0",
                                                  "kind": "geom",
                                                  "geom": "visual_panda_hand_0",
                                                  "parent": "panda_hand",
                                                  "children": []
                                                },
                                                {
                                                  "name": "panda_hand_tcp",
                                                  "kind": "body",
                                                  "children": []
                                                },
                                                {
                                                  "name": "panda_leftfinger",
                                                  "kind": "body",
                                                  "children": [
                                                    {
                                                      "name": "visual_panda_leftfinger_0",
                                                      "kind": "geom",
                                                      "geom": "visual_panda_leftfinger_0",
                                                      "parent": "panda_leftfinger",
                                                      "children": []
                                                    },
                                                    {
                                                      "name": "panda_leftfinger_pad",
                                                      "kind": "body",
                                                      "children": []
                                                    }
                                                  ]
                                                },
                                                {
                                                  "name": "panda_rightfinger",
                                                  "kind": "body",
                                                  "children": [
                                                    {
                                                      "name": "visual_panda_rightfinger_0",
                                                      "kind": "geom",
                                                      "geom": "visual_panda_rightfinger_0",
                                                      "parent": "panda_rightfinger",
                                                      "children": []
                                                    },
                                                    {
                                                      "name": "panda_rightfinger_pad",
                                                      "kind": "body",
                                                      "children": []
                                                    }
                                                  ]
                                                }
                                              ]
                                            }
                                          ]
                                        }
                                      ]
                                    }
                                  ]
                                }
                              ]
                            }
                          ]
                        }
                      ]
                    }
                  ]
                }
              ]
            }
          ]
        },
        {
          "name": "table-workspace",
          "kind": "body",
          "children": [
            {
              "name": "visual_table-workspace_0",
              "kind": "geom",
              "geom": "visual_table-workspace_0",
              "parent": "table-workspace",
              "children": []
            }
          ]
        },
        {
          "name": "ground",
          "kind": "body",
          "children": [
            {
              "name": "visual_ground_0",
              "kind": "geom",
              "geom": "visual_ground_0",
              "parent": "ground",
              "children": []
            }
          ]
        },
        {
          "name": "cube",
          "kind": "body",
          "children": [
            {
              "name": "visual_cube_0",
              "kind": "geom",
              "geom": "visual_cube_0",
              "parent": "cube",
              "children": []
            }
          ]
        },
        {
          "name": "goal_site",
          "kind": "body",
          "children": [
            {
              "name": "visual_goal_site_0",
              "kind": "geom",
              "geom": "visual_goal_site_0",
              "parent": "goal_site",
              "children": []
            }
          ]
        }
      ]
    },
    "cameras": [],
    "sites": [],
    "objectUrls": [],
    "jointMap": {
      "panda_joint1": 0,
      "panda_joint2": 1,
      "panda_joint3": 2,
      "panda_joint4": 3,
      "panda_joint5": 4,
      "panda_joint6": 5,
      "panda_joint7": 6,
      "panda_finger_joint1": 7,
      "panda_finger_joint2": 8
    },
    "visibility": {
      "id": "sapien-native-visuals"
    },
    "textureWrap": "repeat"
  },
  "displayCamera": {
    "name": "Native render camera",
    "pos": [
      0.6000000238418579,
      0.699999988079071,
      0.6000000238418579
    ],
    "quat": [
      0.27556706306493284,
      0.21079490246404942,
      0.5698328905215999,
      0.7449287078162161
    ],
    "fovy": 57.29577951308232,
    "aspectPolicy": "preserve-vertical-span"
  },
  "notes": [
    "Display geometry and native recorded states, not browser physics.",
    "Original evaluator ignores success terminations until its 50-action horizon; native_terminated preserves the raw source flag.",
    "State restoration verifies geometry/frames and sends no new policy actions.",
    "Assets: upstream CC BY-NC 4.0; code: Apache 2.0.",
    "Finger mimic disabled in display URDF to preserve independently recorded native finger positions."
  ]
}
