chess-sim/code/sim/chess_scene.xml

<mujoco model="so101_chess">
  <!-- Generated by sim/make_scene.py. Do not edit by hand. -->
  <compiler angle="radian" meshdir="assets/so101" autolimits="true"/>
  <option timestep="0.0016666667" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
  <statistic center="0.12 0 0.18" extent="0.9"/>

  <visual>
    <headlight active="0"/>
    <global azimuth="150" elevation="-25" offwidth="1280" offheight="960"/>
    <quality shadowsize="8192" offsamples="4"/>
    <map znear="0.001" shadowclip="1" shadowscale="0.6"/>
  </visual>

  <asset>
    <mesh name="chess_pawn" file="../chess/pawn.stl"/>
    <mesh name="chess_pawn_col_0" file="../chess/collision/pawn_00.stl"/>
    <mesh name="chess_pawn_col_1" file="../chess/collision/pawn_01.stl"/>
    <mesh name="chess_pawn_col_2" file="../chess/collision/pawn_02.stl"/>
    <mesh name="chess_pawn_col_3" file="../chess/collision/pawn_03.stl"/>
    <mesh name="chess_pawn_col_4" file="../chess/collision/pawn_04.stl"/>
    <mesh name="chess_pawn_col_5" file="../chess/collision/pawn_05.stl"/>
    <mesh name="chess_pawn_col_6" file="../chess/collision/pawn_06.stl"/>
    <mesh name="chess_pawn_col_7" file="../chess/collision/pawn_07.stl"/>
    <mesh name="chess_rook" file="../chess/rook.stl"/>
    <mesh name="chess_rook_col_0" file="../chess/collision/rook_00.stl"/>
    <mesh name="chess_rook_col_1" file="../chess/collision/rook_01.stl"/>
    <mesh name="chess_rook_col_2" file="../chess/collision/rook_02.stl"/>
    <mesh name="chess_rook_col_3" file="../chess/collision/rook_03.stl"/>
    <mesh name="chess_rook_col_4" file="../chess/collision/rook_04.stl"/>
    <mesh name="chess_rook_col_5" file="../chess/collision/rook_05.stl"/>
    <mesh name="chess_rook_col_6" file="../chess/collision/rook_06.stl"/>
    <mesh name="chess_rook_col_7" file="../chess/collision/rook_07.stl"/>
    <mesh name="chess_rook_col_8" file="../chess/collision/rook_08.stl"/>
    <mesh name="chess_rook_col_9" file="../chess/collision/rook_09.stl"/>
    <mesh name="chess_rook_col_10" file="../chess/collision/rook_10.stl"/>
    <mesh name="chess_rook_col_11" file="../chess/collision/rook_11.stl"/>
    <mesh name="chess_rook_col_12" file="../chess/collision/rook_12.stl"/>
    <mesh name="chess_rook_col_13" file="../chess/collision/rook_13.stl"/>
    <mesh name="chess_rook_col_14" file="../chess/collision/rook_14.stl"/>
    <mesh name="chess_rook_col_15" file="../chess/collision/rook_15.stl"/>
    <mesh name="chess_rook_col_16" file="../chess/collision/rook_16.stl"/>
    <mesh name="chess_rook_col_17" file="../chess/collision/rook_17.stl"/>
    <mesh name="chess_rook_col_18" file="../chess/collision/rook_18.stl"/>
    <mesh name="chess_rook_col_19" file="../chess/collision/rook_19.stl"/>
    <mesh name="chess_knight" file="../chess/knight.stl"/>
    <mesh name="chess_knight_col_0" file="../chess/collision/knight_00.stl"/>
    <mesh name="chess_knight_col_1" file="../chess/collision/knight_01.stl"/>
    <mesh name="chess_knight_col_2" file="../chess/collision/knight_02.stl"/>
    <mesh name="chess_knight_col_3" file="../chess/collision/knight_03.stl"/>
    <mesh name="chess_knight_col_4" file="../chess/collision/knight_04.stl"/>
    <mesh name="chess_knight_col_5" file="../chess/collision/knight_05.stl"/>
    <mesh name="chess_knight_col_6" file="../chess/collision/knight_06.stl"/>
    <mesh name="chess_knight_col_7" file="../chess/collision/knight_07.stl"/>
    <mesh name="chess_knight_col_8" file="../chess/collision/knight_08.stl"/>
    <mesh name="chess_knight_col_9" file="../chess/collision/knight_09.stl"/>
    <mesh name="chess_knight_col_10" file="../chess/collision/knight_10.stl"/>
    <mesh name="chess_knight_col_11" file="../chess/collision/knight_11.stl"/>
    <mesh name="chess_knight_col_12" file="../chess/collision/knight_12.stl"/>
    <mesh name="chess_knight_col_13" file="../chess/collision/knight_13.stl"/>
    <mesh name="chess_knight_col_14" file="../chess/collision/knight_14.stl"/>
    <mesh name="chess_knight_col_15" file="../chess/collision/knight_15.stl"/>
    <mesh name="chess_knight_col_16" file="../chess/collision/knight_16.stl"/>
    <mesh name="chess_knight_col_17" file="../chess/collision/knight_17.stl"/>
    <mesh name="chess_knight_col_18" file="../chess/collision/knight_18.stl"/>
    <mesh name="chess_knight_col_19" file="../chess/collision/knight_19.stl"/>
    <mesh name="chess_knight_col_20" file="../chess/collision/knight_20.stl"/>
    <mesh name="chess_knight_col_21" file="../chess/collision/knight_21.stl"/>
    <mesh name="chess_knight_col_22" file="../chess/collision/knight_22.stl"/>
    <mesh name="chess_knight_col_23" file="../chess/collision/knight_23.stl"/>
    <mesh name="chess_knight_col_24" file="../chess/collision/knight_24.stl"/>
    <mesh name="chess_knight_col_25" file="../chess/collision/knight_25.stl"/>
    <mesh name="chess_knight_col_26" file="../chess/collision/knight_26.stl"/>
    <mesh name="chess_knight_col_27" file="../chess/collision/knight_27.stl"/>
    <mesh name="chess_knight_col_28" file="../chess/collision/knight_28.stl"/>
    <mesh name="chess_knight_col_29" file="../chess/collision/knight_29.stl"/>
    <mesh name="chess_knight_col_30" file="../chess/collision/knight_30.stl"/>
    <mesh name="chess_knight_col_31" file="../chess/collision/knight_31.stl"/>
    <mesh name="chess_knight_col_32" file="../chess/collision/knight_32.stl"/>
    <mesh name="chess_knight_col_33" file="../chess/collision/knight_33.stl"/>
    <mesh name="chess_knight_col_34" file="../chess/collision/knight_34.stl"/>
    <mesh name="chess_knight_col_35" file="../chess/collision/knight_35.stl"/>
    <mesh name="chess_knight_col_36" file="../chess/collision/knight_36.stl"/>
    <mesh name="chess_knight_col_37" file="../chess/collision/knight_37.stl"/>
    <mesh name="chess_knight_col_38" file="../chess/collision/knight_38.stl"/>
    <mesh name="chess_knight_col_39" file="../chess/collision/knight_39.stl"/>
    <mesh name="chess_knight_col_40" file="../chess/collision/knight_40.stl"/>
    <mesh name="chess_bishop" file="../chess/bishop.stl"/>
    <mesh name="chess_bishop_col_0" file="../chess/collision/bishop_00.stl"/>
    <mesh name="chess_bishop_col_1" file="../chess/collision/bishop_01.stl"/>
    <mesh name="chess_bishop_col_2" file="../chess/collision/bishop_02.stl"/>
    <mesh name="chess_bishop_col_3" file="../chess/collision/bishop_03.stl"/>
    <mesh name="chess_bishop_col_4" file="../chess/collision/bishop_04.stl"/>
    <mesh name="chess_bishop_col_5" file="../chess/collision/bishop_05.stl"/>
    <mesh name="chess_bishop_col_6" file="../chess/collision/bishop_06.stl"/>
    <mesh name="chess_bishop_col_7" file="../chess/collision/bishop_07.stl"/>
    <mesh name="chess_bishop_col_8" file="../chess/collision/bishop_08.stl"/>
    <mesh name="chess_bishop_col_9" file="../chess/collision/bishop_09.stl"/>
    <mesh name="chess_bishop_col_10" file="../chess/collision/bishop_10.stl"/>
    <mesh name="chess_bishop_col_11" file="../chess/collision/bishop_11.stl"/>
    <mesh name="chess_bishop_col_12" file="../chess/collision/bishop_12.stl"/>
    <mesh name="chess_bishop_col_13" file="../chess/collision/bishop_13.stl"/>
    <mesh name="chess_bishop_col_14" file="../chess/collision/bishop_14.stl"/>
    <mesh name="chess_bishop_col_15" file="../chess/collision/bishop_15.stl"/>
    <mesh name="chess_bishop_col_16" file="../chess/collision/bishop_16.stl"/>
    <mesh name="chess_bishop_col_17" file="../chess/collision/bishop_17.stl"/>
    <mesh name="chess_bishop_col_18" file="../chess/collision/bishop_18.stl"/>
    <mesh name="chess_queen" file="../chess/queen.stl"/>
    <mesh name="chess_queen_col_0" file="../chess/collision/queen_00.stl"/>
    <mesh name="chess_queen_col_1" file="../chess/collision/queen_01.stl"/>
    <mesh name="chess_queen_col_2" file="../chess/collision/queen_02.stl"/>
    <mesh name="chess_queen_col_3" file="../chess/collision/queen_03.stl"/>
    <mesh name="chess_queen_col_4" file="../chess/collision/queen_04.stl"/>
    <mesh name="chess_queen_col_5" file="../chess/collision/queen_05.stl"/>
    <mesh name="chess_queen_col_6" file="../chess/collision/queen_06.stl"/>
    <mesh name="chess_queen_col_7" file="../chess/collision/queen_07.stl"/>
    <mesh name="chess_queen_col_8" file="../chess/collision/queen_08.stl"/>
    <mesh name="chess_queen_col_9" file="../chess/collision/queen_09.stl"/>
    <mesh name="chess_queen_col_10" file="../chess/collision/queen_10.stl"/>
    <mesh name="chess_queen_col_11" file="../chess/collision/queen_11.stl"/>
    <mesh name="chess_king" file="../chess/king.stl"/>
    <mesh name="chess_king_col_0" file="../chess/collision/king_00.stl"/>
    <mesh name="chess_king_col_1" file="../chess/collision/king_01.stl"/>
    <mesh name="chess_king_col_2" file="../chess/collision/king_02.stl"/>
    <mesh name="chess_king_col_3" file="../chess/collision/king_03.stl"/>
    <mesh name="chess_king_col_4" file="../chess/collision/king_04.stl"/>
    <mesh name="chess_king_col_5" file="../chess/collision/king_05.stl"/>
    <mesh name="chess_king_col_6" file="../chess/collision/king_06.stl"/>
    <mesh name="chess_king_col_7" file="../chess/collision/king_07.stl"/>
    <mesh name="chess_king_col_8" file="../chess/collision/king_08.stl"/>
    <material name="piece_mat" specular="0.25" shininess="0.35"/>
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<texture name="oak_tex" type="2d" file="assets/environment/oak_color.png"/>
<texture name="pale_wood_tex" type="2d" file="assets/environment/pale_wood_color.png"/>
<texture name="dark_wood_tex" type="2d" file="assets/environment/dark_wood_color.png"/>
<material name="table_mat" texture="pale_wood_tex" texrepeat="1.5 1" specular="0.12" shininess="0.2" reflectance="0"/>
<material name="light_square_mat" texture="pale_wood_tex" texrepeat="0.18 0.18" specular="0.16" shininess="0.3"/>
<material name="dark_square_mat" texture="dark_wood_tex" texrepeat="0.18 0.18" specular="0.18" shininess="0.3"/>
<material name="border_mat" texture="oak_tex" texrepeat="0.28 0.28" rgba="0.55 0.42 0.31 1" specular="0.16" shininess="0.3"/>
<material name="case_mat" rgba="0.095 0.11 0.125 1" specular="0.12" shininess="0.15"/>
<material name="anodized" rgba="0.32 0.35 0.38 1" specular="0.35" shininess="0.4"/>
<material name="steel" rgba="0.55 0.57 0.59 1" specular="0.65" shininess="0.65"/>
<material name="rubber" rgba="0.025 0.030 0.035 1" specular="0.05" shininess="0.05"/>
<material name="lens" rgba="0.012 0.023 0.035 1" specular="0.7" shininess="0.8"/>
<material name="felt" rgba="0.14 0.20 0.18 1" specular="0.01" shininess="0.05"/>
<material name="bin_mat" rgba="0.22 0.24 0.25 1" specular="0.12" shininess="0.2"/>
<material name="wall_mat" rgba="0.90 0.89 0.85 1" specular="0"/>
<material name="floor_mat" rgba="0.34 0.35 0.34 1" specular="0.03" texuniform="true" texrepeat="3 3"/>
<texture name="tile_tex" type="2d" builtin="checker" rgb1="0.86 0.86 0.84" rgb2="0.74 0.74 0.72" width="512" height="512" mark="edge" markrgb="0.55 0.55 0.53"/>
<texture name="carpet_tex" type="2d" builtin="flat" rgb1="0.55 0.55 0.55" width="512" height="512" mark="random" random="0.4" markrgb="0.38 0.38 0.38"/>
<texture name="concrete_tex" type="2d" builtin="flat" rgb1="0.64 0.64 0.62" width="512" height="512" mark="random" random="0.1" markrgb="0.48 0.48 0.47"/>
<material name="device_mat" rgba="0.55 0.56 0.58 1" specular="0.4" shininess="0.5"/>
<material name="device2_mat" rgba="0.08 0.08 0.09 1" specular="0.4" shininess="0.6"/>
<material name="mug_mat" rgba="0.85 0.85 0.82 1" specular="0.3" shininess="0.5"/>
<material name="notebook_mat" rgba="0.20 0.30 0.55 1" specular="0.05" shininess="0.1"/>
<material name="pen_mat" rgba="0.10 0.20 0.70 1" specular="0.3" shininess="0.4"/>
<material name="cable_mat_0" rgba="0.03 0.03 0.035 1" specular="0.1" shininess="0.2"/>
<material name="cable_mat_1" rgba="0.03 0.03 0.035 1" specular="0.1" shininess="0.2"/>
<material name="trim_mat" rgba="0.84 0.84 0.80 1" specular="0.06"/>
<material name="inlay_mat" rgba="0.79 0.70 0.51 1" specular="0.1"/>
  </asset>

  <include file="assets/so101/so101.xml"/>

  <worldbody>
    <!-- Window key light, ceiling fill, and subtle room bounce. No mirror planes. -->
    <light name="window_key" pos="0.20 -0.65 1.10" dir="0 0.5 -1" diffuse="0.34 0.33 0.31" specular="0.10 0.10 0.10" cutoff="75" castshadow="true"/>
    <light name="ceiling_fill" pos="0.2 0.35 1.25" dir="0 -0.2 -1" diffuse="0.15 0.16 0.18" specular="0.03 0.03 0.03" cutoff="90" castshadow="false"/>
    <light name="room_bounce" directional="true" dir="0 0 -1" ambient="0.55 0.55 0.55" diffuse="0 0 0" specular="0 0 0" castshadow="false"/>
    <!-- Off in the nominal scene; phase 2 lighting randomisation switches them on. -->
    <light name="ceiling_2" pos="-0.2 -0.3 1.3" dir="0 0 -1" diffuse="0 0 0" specular="0 0 0" cutoff="70" castshadow="false"/>
    <light name="desk_lamp" pos="0.3 0.45 0.45" dir="0 -0.5 -1" diffuse="0 0 0" specular="0 0 0" cutoff="45" castshadow="false"/>
    <light name="sun" directional="true" dir="0.3 0.4 -1" diffuse="0 0 0" specular="0 0 0" castshadow="false"/>
    <light name="fill_2" pos="0.9 0.0 0.9" dir="-1 0 -0.6" diffuse="0 0 0" specular="0 0 0" cutoff="80" castshadow="false"/>

    <body name="table"><geom name="table" type="box" pos="0.18 0 -0.02" size="0.60 0.40 0.02" group="3" rgba="0.2 0.7 0.3 0.35" friction="1 0.005 0.0001"/>
<geom name="table_surface" type="mesh" mesh="tabletop_mesh" pos="0.18 0 -0.02" material="table_mat" group="1" contype="0" conaffinity="0"/>
<geom name="table_apron_front" type="box" pos="0.18 -0.33 -0.065" size="0.54 0.012 0.025" material="case_mat" contype="0" conaffinity="0" group="1" />
<geom name="table_apron_back" type="box" pos="0.18 0.33 -0.065" size="0.54 0.012 0.025" material="case_mat" contype="0" conaffinity="0" group="1" />
<geom name="table_leg_0" type="box" pos="-0.34 -0.33 -0.385" size="0.018 0.018 0.345" material="case_mat"  />
<geom name="table_foot_0" type="box" pos="-0.34 -0.33 -0.733" size="0.019 0.019 0.007" material="rubber"  />
<geom name="table_leg_1" type="box" pos="-0.34 0.33 -0.385" size="0.018 0.018 0.345" material="case_mat"  />
<geom name="table_foot_1" type="box" pos="-0.34 0.33 -0.733" size="0.019 0.019 0.007" material="rubber"  />
<geom name="table_leg_2" type="box" pos="0.7 -0.33 -0.385" size="0.018 0.018 0.345" material="case_mat"  />
<geom name="table_foot_2" type="box" pos="0.7 -0.33 -0.733" size="0.019 0.019 0.007" material="rubber"  />
<geom name="table_leg_3" type="box" pos="0.7 0.33 -0.385" size="0.018 0.018 0.345" material="case_mat"  />
<geom name="table_foot_3" type="box" pos="0.7 0.33 -0.733" size="0.019 0.019 0.007" material="rubber"  /></body>
<geom name="floor" type="plane" pos="0 0 -0.74" size="2.5 2.5 0.05" material="floor_mat"/>
<geom name="back_wall" type="box" pos="-0.78 0 0.5" size="0.04 1.8 1.24" material="wall_mat"  />
<geom name="side_wall" type="box" pos="0.65 1.2 0.5" size="1.43 0.04 1.24" material="wall_mat"  />
<geom name="back_skirting" type="box" pos="-0.735 0 -0.695" size="0.006 1.16 0.045" material="trim_mat" contype="0" conaffinity="0" group="1" />
<geom name="side_skirting" type="box" pos="0.68 1.153 -0.695" size="1.42 0.006 0.045" material="trim_mat" contype="0" conaffinity="0" group="1" />
    <body name="rover_deck"><geom name="deck" type="box" size="0.10400000000000001 0.09 0.03" pos="-0.005999999999999998 0 0.03" group="3" rgba="0.2 0.7 0.3 0.35"/>
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      <geom name="sq_h3" type="box" size="0.0125 0.0125 0.0040" pos="0.03750 0.08750 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_a4" type="box" size="0.0125 0.0125 0.0040" pos="0.01250 -0.08750 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_b4" type="box" size="0.0125 0.0125 0.0040" pos="0.01250 -0.06250 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_c4" type="box" size="0.0125 0.0125 0.0040" pos="0.01250 -0.03750 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_d4" type="box" size="0.0125 0.0125 0.0040" pos="0.01250 -0.01250 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_e4" type="box" size="0.0125 0.0125 0.0040" pos="0.01250 0.01250 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_f4" type="box" size="0.0125 0.0125 0.0040" pos="0.01250 0.03750 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_g4" type="box" size="0.0125 0.0125 0.0040" pos="0.01250 0.06250 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_h4" type="box" size="0.0125 0.0125 0.0040" pos="0.01250 0.08750 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_a5" type="box" size="0.0125 0.0125 0.0040" pos="-0.01250 -0.08750 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_b5" type="box" size="0.0125 0.0125 0.0040" pos="-0.01250 -0.06250 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_c5" type="box" size="0.0125 0.0125 0.0040" pos="-0.01250 -0.03750 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_d5" type="box" size="0.0125 0.0125 0.0040" pos="-0.01250 -0.01250 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_e5" type="box" size="0.0125 0.0125 0.0040" pos="-0.01250 0.01250 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_f5" type="box" size="0.0125 0.0125 0.0040" pos="-0.01250 0.03750 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_g5" type="box" size="0.0125 0.0125 0.0040" pos="-0.01250 0.06250 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_h5" type="box" size="0.0125 0.0125 0.0040" pos="-0.01250 0.08750 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_a6" type="box" size="0.0125 0.0125 0.0040" pos="-0.03750 -0.08750 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_b6" type="box" size="0.0125 0.0125 0.0040" pos="-0.03750 -0.06250 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_c6" type="box" size="0.0125 0.0125 0.0040" pos="-0.03750 -0.03750 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_d6" type="box" size="0.0125 0.0125 0.0040" pos="-0.03750 -0.01250 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_e6" type="box" size="0.0125 0.0125 0.0040" pos="-0.03750 0.01250 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_f6" type="box" size="0.0125 0.0125 0.0040" pos="-0.03750 0.03750 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_g6" type="box" size="0.0125 0.0125 0.0040" pos="-0.03750 0.06250 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_h6" type="box" size="0.0125 0.0125 0.0040" pos="-0.03750 0.08750 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_a7" type="box" size="0.0125 0.0125 0.0040" pos="-0.06250 -0.08750 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_b7" type="box" size="0.0125 0.0125 0.0040" pos="-0.06250 -0.06250 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_c7" type="box" size="0.0125 0.0125 0.0040" pos="-0.06250 -0.03750 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_d7" type="box" size="0.0125 0.0125 0.0040" pos="-0.06250 -0.01250 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_e7" type="box" size="0.0125 0.0125 0.0040" pos="-0.06250 0.01250 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_f7" type="box" size="0.0125 0.0125 0.0040" pos="-0.06250 0.03750 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_g7" type="box" size="0.0125 0.0125 0.0040" pos="-0.06250 0.06250 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_h7" type="box" size="0.0125 0.0125 0.0040" pos="-0.06250 0.08750 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_a8" type="box" size="0.0125 0.0125 0.0040" pos="-0.08750 -0.08750 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_b8" type="box" size="0.0125 0.0125 0.0040" pos="-0.08750 -0.06250 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_c8" type="box" size="0.0125 0.0125 0.0040" pos="-0.08750 -0.03750 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_d8" type="box" size="0.0125 0.0125 0.0040" pos="-0.08750 -0.01250 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_e8" type="box" size="0.0125 0.0125 0.0040" pos="-0.08750 0.01250 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_f8" type="box" size="0.0125 0.0125 0.0040" pos="-0.08750 0.03750 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
      <geom name="sq_g8" type="box" size="0.0125 0.0125 0.0040" pos="-0.08750 0.06250 0.00400" rgba="0.98 0.97 0.94 1" material="light_square_mat"/>
      <geom name="sq_h8" type="box" size="0.0125 0.0125 0.0040" pos="-0.08750 0.08750 0.00400" rgba="0.95 0.93 0.90 1" material="dark_square_mat"/>
            <site name="sq_a1" pos="0.08750 -0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_b1" pos="0.08750 -0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_c1" pos="0.08750 -0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_d1" pos="0.08750 -0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_e1" pos="0.08750 0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_f1" pos="0.08750 0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_g1" pos="0.08750 0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_h1" pos="0.08750 0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_a2" pos="0.06250 -0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_b2" pos="0.06250 -0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_c2" pos="0.06250 -0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_d2" pos="0.06250 -0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_e2" pos="0.06250 0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_f2" pos="0.06250 0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_g2" pos="0.06250 0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_h2" pos="0.06250 0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_a3" pos="0.03750 -0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_b3" pos="0.03750 -0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_c3" pos="0.03750 -0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_d3" pos="0.03750 -0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_e3" pos="0.03750 0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_f3" pos="0.03750 0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_g3" pos="0.03750 0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_h3" pos="0.03750 0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_a4" pos="0.01250 -0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_b4" pos="0.01250 -0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_c4" pos="0.01250 -0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_d4" pos="0.01250 -0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_e4" pos="0.01250 0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_f4" pos="0.01250 0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_g4" pos="0.01250 0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_h4" pos="0.01250 0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_a5" pos="-0.01250 -0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_b5" pos="-0.01250 -0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_c5" pos="-0.01250 -0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_d5" pos="-0.01250 -0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_e5" pos="-0.01250 0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_f5" pos="-0.01250 0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_g5" pos="-0.01250 0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_h5" pos="-0.01250 0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_a6" pos="-0.03750 -0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_b6" pos="-0.03750 -0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_c6" pos="-0.03750 -0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_d6" pos="-0.03750 -0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_e6" pos="-0.03750 0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_f6" pos="-0.03750 0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_g6" pos="-0.03750 0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_h6" pos="-0.03750 0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_a7" pos="-0.06250 -0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_b7" pos="-0.06250 -0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_c7" pos="-0.06250 -0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_d7" pos="-0.06250 -0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_e7" pos="-0.06250 0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_f7" pos="-0.06250 0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_g7" pos="-0.06250 0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_h7" pos="-0.06250 0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_a8" pos="-0.08750 -0.08750 0.00800" size="0.003" group="4"/>
      <site name="sq_b8" pos="-0.08750 -0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_c8" pos="-0.08750 -0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_d8" pos="-0.08750 -0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_e8" pos="-0.08750 0.01250 0.00800" size="0.003" group="4"/>
      <site name="sq_f8" pos="-0.08750 0.03750 0.00800" size="0.003" group="4"/>
      <site name="sq_g8" pos="-0.08750 0.06250 0.00800" size="0.003" group="4"/>
      <site name="sq_h8" pos="-0.08750 0.08750 0.00800" size="0.003" group="4"/>
      <geom name="board_frame_x_-1" type="box" pos="-0.106 0 0.004" size="0.006 0.112 0.004" material="border_mat"  />
<geom name="board_frame_y_-1" type="box" pos="0 -0.106 0.004" size="0.1 0.006 0.004" material="border_mat"  />
<geom name="inlay_x_-1" type="box" pos="-0.1015 0 0.008015" size="0.00035 0.10185 1.5e-05" material="inlay_mat" contype="0" conaffinity="0" group="1" />
<geom name="inlay_y_-1" type="box" pos="0 -0.1015 0.008015" size="0.10185 0.00035 1.5e-05" material="inlay_mat" contype="0" conaffinity="0" group="1" />
<geom name="board_frame_x_1" type="box" pos="0.106 0 0.004" size="0.006 0.112 0.004" material="border_mat"  />
<geom name="board_frame_y_1" type="box" pos="0 0.106 0.004" size="0.1 0.006 0.004" material="border_mat"  />
<geom name="inlay_x_1" type="box" pos="0.1015 0 0.008015" size="0.00035 0.10185 1.5e-05" material="inlay_mat" contype="0" conaffinity="0" group="1" />
<geom name="inlay_y_1" type="box" pos="0 0.1015 0.008015" size="0.10185 0.00035 1.5e-05" material="inlay_mat" contype="0" conaffinity="0" group="1" />
    </body>

    <!-- capture tray on the robot's right -->
    <body name="bin" pos="0.20000 -0.18000 0.00000">
      <geom name="tray_floor" type="box" size="0.045 0.035 0.002" pos="0 0 0.002" material="bin_mat"/>
<geom name="tray_felt" type="box" pos="0 0 0.00405" size="0.0425 0.0325 5e-05" material="felt" contype="0" conaffinity="0" group="1" />
<geom name="tray_wall_y_-1" type="box" size="0.045 0.002 0.01" pos="0 -0.035 0.01" material="bin_mat"/>
<geom name="tray_wall_x_-1" type="box" size="0.002 0.035 0.01" pos="-0.045 0 0.01" material="bin_mat"/>
<geom name="tray_rim_x_-1" type="capsule" fromto="-0.045 -0.035 0.02 0.045 -0.035 0.02" size="0.0012" material="bin_mat" contype="0" conaffinity="0" group="1"/>
<geom name="tray_rim_y_-1" type="capsule" fromto="-0.045 -0.035 0.02 -0.045 0.035 0.02" size="0.0012" material="bin_mat" contype="0" conaffinity="0" group="1"/>
<geom name="tray_wall_y_1" type="box" size="0.045 0.002 0.01" pos="0 0.035 0.01" material="bin_mat"/>
<geom name="tray_wall_x_1" type="box" size="0.002 0.035 0.01" pos="0.045 0 0.01" material="bin_mat"/>
<geom name="tray_rim_x_1" type="capsule" fromto="-0.045 0.035 0.02 0.045 0.035 0.02" size="0.0012" material="bin_mat" contype="0" conaffinity="0" group="1"/>
<geom name="tray_rim_y_1" type="capsule" fromto="0.045 -0.035 0.02 0.045 0.035 0.02" size="0.0012" material="bin_mat" contype="0" conaffinity="0" group="1"/>
      <site name="bin_drop" pos="0 0 0.05" size="0.004" group="4"/>
    </body>

    <!-- pieces: free bodies, starting position -->
      <body name="w_rook_a" pos="0.29750 -0.08750 0.00850" quat="0.7071067812 0 0 0.7071067812">
        <freejoint name="w_rook_a_free"/>
        <inertial pos="5.652625771e-08 -9.064657367e-06 0.009230527214" mass="0.009" fullinertia="6.776925069e-07 6.776917615e-07 2.270438396e-07 -3.558958196e-13 -7.489703284e-12 -3.308087657e-12"/>
        <site name="w_rook_a_grasp" pos="0 0 0.0167605" size="0.002" group="4"/>
        <geom name="w_rook_a_visual" type="mesh" mesh="chess_rook" rgba="0.93 0.88 0.76 1" material="piece_mat" group="2" contype="0" conaffinity="0" mass="0"/>
<geom name="w_rook_a_collision_0" type="mesh" mesh="chess_rook_col_0" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_1" type="mesh" mesh="chess_rook_col_1" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_2" type="mesh" mesh="chess_rook_col_2" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_3" type="mesh" mesh="chess_rook_col_3" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_4" type="mesh" mesh="chess_rook_col_4" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_5" type="mesh" mesh="chess_rook_col_5" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_6" type="mesh" mesh="chess_rook_col_6" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_7" type="mesh" mesh="chess_rook_col_7" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_8" type="mesh" mesh="chess_rook_col_8" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_9" type="mesh" mesh="chess_rook_col_9" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_10" type="mesh" mesh="chess_rook_col_10" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_11" type="mesh" mesh="chess_rook_col_11" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_12" type="mesh" mesh="chess_rook_col_12" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_13" type="mesh" mesh="chess_rook_col_13" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_14" type="mesh" mesh="chess_rook_col_14" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="w_rook_a_collision_15" type="mesh" mesh="chess_rook_col_15" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
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<geom name="b_pawn_h_collision_4" type="mesh" mesh="chess_pawn_col_4" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="b_pawn_h_collision_5" type="mesh" mesh="chess_pawn_col_5" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="b_pawn_h_collision_6" type="mesh" mesh="chess_pawn_col_6" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
<geom name="b_pawn_h_collision_7" type="mesh" mesh="chess_pawn_col_7" group="3" rgba="0.2 0.7 0.3 0.35" mass="0" friction="0.7 0.005 0.0001" condim="4" solref="0.005 1" solimp="0.97 0.995 0.0005" solmix="1000"/>
      </body>

    <!-- viewing cameras -->
    <camera name="side" pos="0.58 -0.85 0.62" xyaxes="0.87947 0.47595 -0.00000 -0.19720 0.36440 0.91012" fovy="45"/>
    <camera name="human" pos="0.72 0.0 0.32" xyaxes="0.00000 1.00000 -0.00000 -0.53905 0.00000 0.84227" fovy="45"/>
    <camera name="scene" pos="0.94 -1.08 0.80" xyaxes="0.79645 0.60471 -0.00000 -0.25810 0.33994 0.90434" fovy="45"/>
    <camera name="board_detail" pos="0.46 -0.30 0.27" xyaxes="0.76822 0.64018 -0.00000 -0.35002 0.42002 0.83730" fovy="36"/>
  </worldbody>

  <keyframe>
    <!-- arm folded at home, pieces in the starting position; ctrl holds the arm there -->
    <key name="home" qpos="0 -1.2 0.95 1.45 0 0.3 0.29750 -0.08750 0.00850 0.7071067812 0 0 0.7071067812 0.27250 -0.08750 0.00850 0.7071067812 0 0 0.7071067812 0.12250 -0.08750 0.00850 0.7071067812 0 0 -0.7071067812 0.14750 -0.08750 0.00850 0.7071067812 0 0 -0.7071067812 0.29750 -0.06250 0.00850 0.7071067812 0 0 0.7071067812 0.27250 -0.06250 0.00850 0.7071067812 0 0 0.7071067812 0.12250 -0.06250 0.00850 0.7071067812 0 0 -0.7071067812 0.14750 -0.06250 0.00850 0.7071067812 0 0 -0.7071067812 0.29750 -0.03750 0.00850 0.7071067812 0 0 0.7071067812 0.27250 -0.03750 0.00850 0.7071067812 0 0 0.7071067812 0.12250 -0.03750 0.00850 0.7071067812 0 0 -0.7071067812 0.14750 -0.03750 0.00850 0.7071067812 0 0 -0.7071067812 0.29750 -0.01250 0.00850 0.7071067812 0 0 0.7071067812 0.27250 -0.01250 0.00850 0.7071067812 0 0 0.7071067812 0.12250 -0.01250 0.00850 0.7071067812 0 0 -0.7071067812 0.14750 -0.01250 0.00850 0.7071067812 0 0 -0.7071067812 0.29750 0.01250 0.00850 0.7071067812 0 0 0.7071067812 0.27250 0.01250 0.00850 0.7071067812 0 0 0.7071067812 0.12250 0.01250 0.00850 0.7071067812 0 0 -0.7071067812 0.14750 0.01250 0.00850 0.7071067812 0 0 -0.7071067812 0.29750 0.03750 0.00850 0.7071067812 0 0 0.7071067812 0.27250 0.03750 0.00850 0.7071067812 0 0 0.7071067812 0.12250 0.03750 0.00850 0.7071067812 0 0 -0.7071067812 0.14750 0.03750 0.00850 0.7071067812 0 0 -0.7071067812 0.29750 0.06250 0.00850 0.7071067812 0 0 0.7071067812 0.27250 0.06250 0.00850 0.7071067812 0 0 0.7071067812 0.12250 0.06250 0.00850 0.7071067812 0 0 -0.7071067812 0.14750 0.06250 0.00850 0.7071067812 0 0 -0.7071067812 0.29750 0.08750 0.00850 0.7071067812 0 0 0.7071067812 0.27250 0.08750 0.00850 0.7071067812 0 0 0.7071067812 0.12250 0.08750 0.00850 0.7071067812 0 0 -0.7071067812 0.14750 0.08750 0.00850 0.7071067812 0 0 -0.7071067812" ctrl="0 -1.2 0.95 1.45 0 0.3"/>
  </keyframe>
</mujoco>