diff --git a/1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/episodes.jsonl b/1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eaaa9f578d5e93c5a9537b5f55c41f5571e38f91
--- /dev/null
+++ b/1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/episodes_stats.jsonl b/1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3b702a6b45a78c71a9473cbffdf5c894b01d9c6c
--- /dev/null
+++ b/1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/episodes_stats.jsonl
@@ -0,0 +1,100 @@
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diff --git a/1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/info.json b/1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd16d1d4e2d0eee65bfa7950c5b8e2d79b81d633
--- /dev/null
+++ b/1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/info.json
@@ -0,0 +1,181 @@
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+                "leader_joint6_right.pos",
+                "leader_gripper_right.pos",
+                "leader_joint1_left.pos",
+                "leader_joint2_left.pos",
+                "leader_joint3_left.pos",
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+                "follower_pose_right_rx.pos",
+                "follower_pose_right_ry.pos",
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+        }
+    },
+    "dorobot_dataset_version": "v1.0",
+    "image_path": null,
+    "audio_path": null
+}
\ No newline at end of file
diff --git a/1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/stats.json b/1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..54e235fecd058d278f5b0d402c8fd138128e5145
--- /dev/null
+++ b/1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/stats.json
@@ -0,0 +1,273 @@
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diff --git a/1500case/dataset/dm8_Open_lid_place_the_block_into_box_close_lid/meta/stats.json b/1500case/dataset/dm8_Open_lid_place_the_block_into_box_close_lid/meta/stats.json
new file mode 100644
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@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000000",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000000",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000000/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/drawer/episode_000000/asset",
+  "engineered_task_asset_sha256": "9dc193005ad59413d14d206be86b13b29ce690d9406c7a993c430d547d2e951f",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/drawer/episode_000000/inputs/source_eef_ik/82df6e5c137886964d24/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000000/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000002/asset/definition.json b/150case/cases/drawer_ep000002/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..48dd0c6593312b129e78785120919fb58842c11d
--- /dev/null
+++ b/150case/cases/drawer_ep000002/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2200067257900625,
+          -0.9930035205188575,
+          1.0406911665958796
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5807823331917594
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          -0.2200067257900625,
+          -0.9630035205188576,
+          0.9757823331917592
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.18
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2200067257900625,
+          -0.8380035205188576,
+          0.9410823331917593
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.27500672579006247,
+          -0.8500035205188576,
+          0.9410823331917593
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.1650067257900625,
+          -0.8500035205188576,
+          0.9410823331917593
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2200067257900625,
+          -0.8460035205188576,
+          1.1057823331917593
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2200067257900625,
+          -0.8250035205188576,
+          1.1057823331917593
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2200067257900625,
+          -0.8460035205188576,
+          1.2357823331917592
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2200067257900625,
+          -0.8250035205188576,
+          1.2357823331917592
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          0.18399548268305013,
+          -0.8624253545662925,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.4592024461393795,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "right",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000002/asset/manifest.json b/150case/cases/drawer_ep000002/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb6e10b671f5d1a4394f43dda7254ca75ebd2658
--- /dev/null
+++ b/150case/cases/drawer_ep000002/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "03e69e9857a2b07a89e5de2d0a51f2c355c06a6d4bee12ebdfbe3012bf83a8c1"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "right",
+    "block_hand": "left",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.33343970320764904,
+    "cycles": {
+      "left": 1,
+      "right": 2
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000002/inputs/case.json b/150case/cases/drawer_ep000002/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..37e9ea29a3abc699d86e5412e08b4b5f0e2c2a93
--- /dev/null
+++ b/150case/cases/drawer_ep000002/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 2,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000002.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000002.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000002.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000002.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 2,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "9efa6082f7e74161ffc428c3d55245d2a1c4f067be1b5ba297ca2fd4324ad864",
+  "source_rows": 839,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "9b2322ef7817f974a9a8506260a40ece2c5c199c79bd042ff23e8196fff16d00"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000002/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000002/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000002/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
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+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000002/source_config.json b/150case/cases/drawer_ep000002/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..c40e52d0b36eb042a149f6cd76c8c45235703df4
--- /dev/null
+++ b/150case/cases/drawer_ep000002/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000002",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000002",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000002/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000002/candidate_004/asset",
+  "engineered_task_asset_sha256": "f006fe28d849681cb32d2125fe234a2515c6fd8d3a81f6a9862ed140804c5096",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000002/inputs/source_eef_ik/dbd49bc46170a48e9907/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000002/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000002/source_eef_receipt.json b/150case/cases/drawer_ep000002/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..b97e4d06cfb7720464736452c21bf9485542e35e
--- /dev/null
+++ b/150case/cases/drawer_ep000002/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "9efa6082f7e74161ffc428c3d55245d2a1c4f067be1b5ba297ca2fd4324ad864",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
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+              1.0,
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+              0.0,
+              0.0,
+              1.0
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+          "source_reference_from_grasp": [
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+              -1.0,
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+              0.0
+            ],
+            [
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+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
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+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
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+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.8653548050404594e-05,
+      "orientation_error_max_rad": 0.00010382761437580944,
+      "position_error_p95_m": 5.568889007003259e-06,
+      "max_joint_step_rad": 0.09556079548800511
+    },
+    "right": {
+      "position_error_max_m": 1.969358544423678e-05,
+      "orientation_error_max_rad": 0.0001611423779732053,
+      "position_error_p95_m": 1.502297660184785e-05,
+      "max_joint_step_rad": 1.1750099256162836
+    }
+  },
+  "wall_s": 0.5862153111957014,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000002/source_reference/scene.xml b/150case/cases/drawer_ep000002/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6e8b247d15bc2acddbcb255ef795e83760f40fe9
--- /dev/null
+++ b/150case/cases/drawer_ep000002/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="-0.22000672579 -0.993003520519 1.0406911666" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.284391166596" 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 0.290391166596" 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 0.290391166596" 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 0.290391166596" 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 0.284391166596" 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 -0.0649088334041" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.18" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0650911665959" 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 0.0650911665959" 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 0.195091166596" 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 0.195091166596" 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="0.183995482683 -0.862425354566 0.7753" quat="-0.33461354333 0 0 0.942355440702">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000002/source_scene.json b/150case/cases/drawer_ep000002/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1f5356a6fbb60c1eafebe4009b6cbbf201ef1ac
--- /dev/null
+++ b/150case/cases/drawer_ep000002/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2200067257900625,
+        -0.9930035205188575,
+        1.0406911665958796
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5807823331917594
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        -0.2200067257900625,
+        -0.9630035205188576,
+        0.9757823331917592
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.18
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2200067257900625,
+        -0.8380035205188576,
+        0.9410823331917593
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.27500672579006247,
+        -0.8500035205188576,
+        0.9410823331917593
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.1650067257900625,
+        -0.8500035205188576,
+        0.9410823331917593
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2200067257900625,
+        -0.8460035205188576,
+        1.1057823331917593
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2200067257900625,
+        -0.8250035205188576,
+        1.1057823331917593
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2200067257900625,
+        -0.8460035205188576,
+        1.2357823331917592
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2200067257900625,
+        -0.8250035205188576,
+        1.2357823331917592
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        0.18399548268305013,
+        -0.8624253545662925,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.4592024461393795,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000004/asset/definition.json b/150case/cases/drawer_ep000004/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d714b627a8820e8bf55b849ff8239fd681e81fc
--- /dev/null
+++ b/150case/cases/drawer_ep000004/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.22287639682600305,
+          -0.9789677701273835,
+          1.0449352436081534
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.589270487216307
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          -0.22287639682600305,
+          -0.9489677701273835,
+          0.9842704872163068
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.18
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.22287639682600305,
+          -0.8239677701273835,
+          0.9495704872163069
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.27787639682600307,
+          -0.8359677701273835,
+          0.9495704872163069
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.16787639682600305,
+          -0.8359677701273835,
+          0.9495704872163069
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.22287639682600305,
+          -0.8319677701273835,
+          1.114270487216307
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.22287639682600305,
+          -0.8109677701273835,
+          1.114270487216307
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.22287639682600305,
+          -0.8319677701273835,
+          1.2442704872163068
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.22287639682600305,
+          -0.8109677701273835,
+          1.2442704872163068
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          0.18300325549956564,
+          -0.7744670110149682,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.399843689747736,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "right",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000004/asset/manifest.json b/150case/cases/drawer_ep000004/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..a50540e396af839f004ff4b761c304de60749b22
--- /dev/null
+++ b/150case/cases/drawer_ep000004/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "39129a2095260f595117ecc80f65c276ba8c12d57c538c80c479a65751bdf5f7"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "right",
+    "block_hand": "left",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.324372296471501,
+    "cycles": {
+      "left": 2,
+      "right": 2
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000004/inputs/case.json b/150case/cases/drawer_ep000004/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..d38cf372031a45c66e7414b9636fa7224be12341
--- /dev/null
+++ b/150case/cases/drawer_ep000004/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 4,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000004.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000004.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000004.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000004.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 4,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "35028d38a02f5bf2967c72bc5c7c7bd1b6a3f0e8e47536339267a1dbe3e1d488",
+  "source_rows": 1010,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "1e396438b90feace2d5e515379670a698eccfd2ce45d34d8126bb260e59e16c6"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000004/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000004/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000004/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
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+    <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" />
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+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000004/source_config.json b/150case/cases/drawer_ep000004/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ae87b223b03a0e78c1bfa52c563655760c0924
--- /dev/null
+++ b/150case/cases/drawer_ep000004/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000004",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000004",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000004/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000004/candidate_004/asset",
+  "engineered_task_asset_sha256": "6ba9136c1a9c3b4e96a6a76713cef0be592e68304fbb7b90bf2cd7b41f7de29f",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000004/inputs/source_eef_ik/d8a22c7ea306910fdbcc/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000004/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000004/source_eef_receipt.json b/150case/cases/drawer_ep000004/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1ce007870a8632df4788960e698df7d541b592e
--- /dev/null
+++ b/150case/cases/drawer_ep000004/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "35028d38a02f5bf2967c72bc5c7c7bd1b6a3f0e8e47536339267a1dbe3e1d488",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.957120648332966e-05,
+      "orientation_error_max_rad": 0.00015429387765903937,
+      "position_error_p95_m": 1.2123859821487666e-05,
+      "max_joint_step_rad": 0.5049283177600553
+    },
+    "right": {
+      "position_error_max_m": 1.9955323022486483e-05,
+      "orientation_error_max_rad": 0.0001662918765794574,
+      "position_error_p95_m": 1.2736164121465782e-05,
+      "max_joint_step_rad": 0.09392748985533766
+    }
+  },
+  "wall_s": 0.7239279658533633,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000004/source_reference/scene.xml b/150case/cases/drawer_ep000004/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7c3ae56305aefb3a6a67534604e027b258b5d8d6
--- /dev/null
+++ b/150case/cases/drawer_ep000004/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
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+          <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 0.0693352436082" 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 0.0693352436082" 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 0.199335243608" 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 0.199335243608" 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="0.1830032555 -0.774467011015 0.7753" quat="-0.362430597002 0 0 0.932010763005">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000004/source_scene.json b/150case/cases/drawer_ep000004/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..74eeec9504191d31071ddfc15aa007a1ba695260
--- /dev/null
+++ b/150case/cases/drawer_ep000004/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22287639682600305,
+        -0.9789677701273835,
+        1.0449352436081534
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.589270487216307
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        -0.22287639682600305,
+        -0.9489677701273835,
+        0.9842704872163068
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.18
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22287639682600305,
+        -0.8239677701273835,
+        0.9495704872163069
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.27787639682600307,
+        -0.8359677701273835,
+        0.9495704872163069
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.16787639682600305,
+        -0.8359677701273835,
+        0.9495704872163069
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22287639682600305,
+        -0.8319677701273835,
+        1.114270487216307
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22287639682600305,
+        -0.8109677701273835,
+        1.114270487216307
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22287639682600305,
+        -0.8319677701273835,
+        1.2442704872163068
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22287639682600305,
+        -0.8109677701273835,
+        1.2442704872163068
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        0.18300325549956564,
+        -0.7744670110149682,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.399843689747736,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000007/asset/definition.json b/150case/cases/drawer_ep000007/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6cd1d041097bfb72cf41bf16d4ad9c4915340fa
--- /dev/null
+++ b/150case/cases/drawer_ep000007/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.22045700775583585,
+          -1.0059254352919453,
+          1.0356524952824953
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5807049905649901
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          -0.22045700775583585,
+          -0.9759254352919454,
+          0.9707049905649898
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.19
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.22045700775583585,
+          -0.8509254352919454,
+          0.9360049905649899
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2754570077558358,
+          -0.8629254352919454,
+          0.9360049905649899
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.16545700775583586,
+          -0.8629254352919454,
+          0.9360049905649899
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.22045700775583585,
+          -0.8589254352919454,
+          1.10070499056499
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.22045700775583585,
+          -0.8379254352919454,
+          1.10070499056499
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.22045700775583585,
+          -0.8589254352919454,
+          1.2307049905649898
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.22045700775583585,
+          -0.8379254352919454,
+          1.2307049905649898
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          0.29173223028039985,
+          -0.768747143336794,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.581500001007741,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "right",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000007/asset/manifest.json b/150case/cases/drawer_ep000007/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..6859842dfe2cfbda30826c94ba24c7c3dec55478
--- /dev/null
+++ b/150case/cases/drawer_ep000007/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v64_bounded_drawer_geometry",
+  "files": {
+    "definition.json": "5f28259c35a99ff55486daff479ab18664c455b1488e21fd234242a4afb6ddef"
+  },
+  "task_id": "dm6",
+  "calibrated": false
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000007/inputs/case.json b/150case/cases/drawer_ep000007/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4bd16734f333e583e16d52ce6055fa82d04baf2
--- /dev/null
+++ b/150case/cases/drawer_ep000007/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 7,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000007.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000007.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000007.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000007.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 7,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "032fc41e38c2df28f264a7608d0ecb1246d0fe15fa6fb04bb568405e0530ec1e",
+  "source_rows": 911,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "022ae3dcb747597aea3f7f21ce64cc71cd054a1f657306f6cea701af98e9e9c3"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000007/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000007/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000007/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
+        <inertial pos="-2.7619e-07 1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
+      </body>
+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
+        <inertial pos="0.0019998 -0.0070713 0.014539" quat="0.653281 0.270598 -0.653281 0.270598" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LR_Link" />
+      </body>
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+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
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+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
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+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
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+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
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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" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000007/source_eef_receipt.json b/150case/cases/drawer_ep000007/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a68d1c89777430a6143948db7368e32bb2ea072
--- /dev/null
+++ b/150case/cases/drawer_ep000007/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "032fc41e38c2df28f264a7608d0ecb1246d0fe15fa6fb04bb568405e0530ec1e",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.978083866879935e-05,
+      "orientation_error_max_rad": 0.00015524298611042762,
+      "position_error_p95_m": 6.0263854270477254e-06,
+      "max_joint_step_rad": 0.06672533256449673
+    },
+    "right": {
+      "position_error_max_m": 1.9893012985683046e-05,
+      "orientation_error_max_rad": 0.00015240997776132375,
+      "position_error_p95_m": 1.3706090035491565e-05,
+      "max_joint_step_rad": 0.3430585617933679
+    }
+  },
+  "wall_s": 0.6435211491771042,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000007/source_reference/scene.xml b/150case/cases/drawer_ep000007/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7b663e8a8ffd77c6c1c06f08692e62e81cb8dbbb
--- /dev/null
+++ b/150case/cases/drawer_ep000007/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3810927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="-0.220457007756 -1.00592543529 1.03565249528" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.284352495282" 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 0.290352495282" 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 0.290352495282" 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 0.290352495282" 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 0.284352495282" 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 -0.0649475047175" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.19" 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 0.0650524952825" 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 0.0650524952825" 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 0.195052495282" 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 0.195052495282" 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="0.29173223028 -0.768747143337 0.7753" quat="-0.276400170401 0 0 0.961042634747">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000007/source_scene.json b/150case/cases/drawer_ep000007/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c885e0db0001e26e5cbd73920bc5719acdaaa7e
--- /dev/null
+++ b/150case/cases/drawer_ep000007/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22045700775583585,
+        -1.0059254352919453,
+        1.0356524952824953
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5807049905649901
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        -0.22045700775583585,
+        -0.9759254352919454,
+        0.9707049905649898
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.19
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22045700775583585,
+        -0.8509254352919454,
+        0.9360049905649899
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2754570077558358,
+        -0.8629254352919454,
+        0.9360049905649899
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.16545700775583586,
+        -0.8629254352919454,
+        0.9360049905649899
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22045700775583585,
+        -0.8589254352919454,
+        1.10070499056499
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22045700775583585,
+        -0.8379254352919454,
+        1.10070499056499
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22045700775583585,
+        -0.8589254352919454,
+        1.2307049905649898
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22045700775583585,
+        -0.8379254352919454,
+        1.2307049905649898
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        0.29173223028039985,
+        -0.768747143336794,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.581500001007741,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000008/asset/definition.json b/150case/cases/drawer_ep000008/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..7daa1e699599de646b2253eb98d4218a3d6e0998
--- /dev/null
+++ b/150case/cases/drawer_ep000008/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20154207391293347,
+          -0.9936849364940452,
+          1.0362930268313055
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5719860536626111
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          -0.20154207391293347,
+          -0.9636849364940453,
+          0.9669860536626109
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.2
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20154207391293347,
+          -0.8386849364940453,
+          0.932286053662611
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2565420739129335,
+          -0.8506849364940453,
+          0.932286053662611
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.14654207391293347,
+          -0.8506849364940453,
+          0.932286053662611
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20154207391293347,
+          -0.8466849364940453,
+          1.096986053662611
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20154207391293347,
+          -0.8256849364940453,
+          1.096986053662611
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20154207391293347,
+          -0.8466849364940453,
+          1.226986053662611
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20154207391293347,
+          -0.8256849364940453,
+          1.226986053662611
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          0.2820508120305018,
+          -0.7589511165121402,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.4964213592276643,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "right",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000008/asset/manifest.json b/150case/cases/drawer_ep000008/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d34eb526d7d778fc7eeec4ab6420c6209333938
--- /dev/null
+++ b/150case/cases/drawer_ep000008/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_episode_candidate",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "4f4ba4c3cc6ecc3c0cbd6f2b30245b3da9c8212592ec00faee1a189110d7694f"
+  },
+  "status": "physical_candidate",
+  "source_action_immutable": true
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000008/inputs/case.json b/150case/cases/drawer_ep000008/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..44195e659715c96787821c8d748c2bb581f17ab0
--- /dev/null
+++ b/150case/cases/drawer_ep000008/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 8,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000008.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000008.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000008.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000008.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 8,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "00996e160e30b856aafc2f709212960dd301bce6c6af02de35ac00705f7b78cc",
+  "source_rows": 877,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "7fc239b389ce489b065e4f0733ec80897c2dd4197273ed80611357fa535b8e8b"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000008/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000008/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000008/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
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+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000008/source_config.json b/150case/cases/drawer_ep000008/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2e15bc2956aa396d76df05831586411febcf8d8
--- /dev/null
+++ b/150case/cases/drawer_ep000008/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000008",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000008",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000008/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000008/candidate_04/asset",
+  "engineered_task_asset_sha256": "2c3a01a9c07b23d5850fdcbe68987af7ae573d361a8c2146077f4160fdcb2881",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000008/inputs/source_eef_ik/1c4b248c5b18b7e4ecfe/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000008/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000008/source_eef_receipt.json b/150case/cases/drawer_ep000008/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e4f0a4a52fdf488952eb696d9b656a087c9dda2
--- /dev/null
+++ b/150case/cases/drawer_ep000008/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "00996e160e30b856aafc2f709212960dd301bce6c6af02de35ac00705f7b78cc",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
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+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
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+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.998652532222304e-05,
+      "orientation_error_max_rad": 0.00014700465358138642,
+      "position_error_p95_m": 7.986750830643484e-06,
+      "max_joint_step_rad": 0.3999754561090376
+    },
+    "right": {
+      "position_error_max_m": 0.029455132847641716,
+      "orientation_error_max_rad": 0.24472053688520864,
+      "position_error_p95_m": 1.5117616335847604e-05,
+      "max_joint_step_rad": 1.910200253651557
+    }
+  },
+  "wall_s": 0.6766630467027426,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000008/source_reference/scene.xml b/150case/cases/drawer_ep000008/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..da8fb795b1aec51e228fbe61be997c907e660e18
--- /dev/null
+++ b/150case/cases/drawer_ep000008/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="-0.201542073913 -0.993684936494 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="0.282050812031 -0.758951116512 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>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000008/source_scene.json b/150case/cases/drawer_ep000008/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c5ed33a5fbf2c1d01d80a2478450749e2e26a72
--- /dev/null
+++ b/150case/cases/drawer_ep000008/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.20154207391293347,
+        -0.9936849364940452,
+        1.0362930268313055
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5719860536626111
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        -0.20154207391293347,
+        -0.9636849364940453,
+        0.9669860536626109
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.2
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.20154207391293347,
+        -0.8386849364940453,
+        0.932286053662611
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2565420739129335,
+        -0.8506849364940453,
+        0.932286053662611
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.14654207391293347,
+        -0.8506849364940453,
+        0.932286053662611
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.20154207391293347,
+        -0.8466849364940453,
+        1.096986053662611
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.20154207391293347,
+        -0.8256849364940453,
+        1.096986053662611
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.20154207391293347,
+        -0.8466849364940453,
+        1.226986053662611
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.20154207391293347,
+        -0.8256849364940453,
+        1.226986053662611
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        0.2820508120305018,
+        -0.7589511165121402,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.4964213592276643,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000009/asset/manifest.json b/150case/cases/drawer_ep000009/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..89f6a578c61cd107ed8be50bf85e0c1f5c3f4439
--- /dev/null
+++ b/150case/cases/drawer_ep000009/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_episode_candidate",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "b1da9e1d00de0ae78b1ebf3323099d8f045fd9b3f63124859949925400ea32b6"
+  },
+  "status": "physical_candidate",
+  "source_action_immutable": true
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000009/inputs/case.json b/150case/cases/drawer_ep000009/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f80a70e46cf44e2ce59b5b4420e484f046457c0
--- /dev/null
+++ b/150case/cases/drawer_ep000009/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 9,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000009.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000009.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000009.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000009.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 9,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "ff99a8e6a2925985c62a5943e58cfbe6569853f7735ebfcd12b8d532aeeb4e41",
+  "source_rows": 847,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "a9532e348646e0091ead06cad6c9fe9efd7a5cba2d9acbf303d31a8f11b02e0d"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000009/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000009/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000009/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
+        <inertial pos="-2.7619e-07 1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
+      </body>
+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
+        <inertial pos="0.0019998 -0.0070713 0.014539" quat="0.653281 0.270598 -0.653281 0.270598" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LR_Link" />
+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
+          <inertial pos="-0.23187 0.033333 0" quat="0.0851505 0.715372 -0.0840248 0.688427" mass="5.6183" diaginertia="0.0175257 0.0129591 0.00795872" />
+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
+          <body name="astribot_torso_link_3" pos="-0.39 0 0" gravcomp="0" quat="0.98962549373999498 0 0 0.14367109013253554">
+            <inertial pos="0.133333 -0.086872 0" quat="0.00834705 0.708024 0.00970003 0.706073" mass="0.49013" diaginertia="0.000380401 0.000365211 0.000222118" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_3" />
+            <body name="astribot_torso_link_4" pos="0 0 0" quat="0.49969040546151655 0.50030740665236773 -0.49969440546076005 -0.50030740419236785" gravcomp="0">
+              <inertial pos="0.00476227 -4.56967e-05 0.242913" quat="0.999954 7.7949e-05 0.00906445 -0.00297427" mass="11.7741" diaginertia="0.0165787 0.0149043 0.0110611" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_base_link" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
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+                  <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">
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+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000009/source_config.json b/150case/cases/drawer_ep000009/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..25a9ae816c4b398d29bcfce5c295054051b3e2b6
--- /dev/null
+++ b/150case/cases/drawer_ep000009/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000009",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000009",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000009/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000009/candidate_04/asset",
+  "engineered_task_asset_sha256": "e682e1b183dce2c744569b63fd0c8d677b4b18a6d9995cd21581111d2b1dd7f9",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000009/inputs/source_eef_ik/9a36151464fbdaea3b8f/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000009/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000009/source_eef_receipt.json b/150case/cases/drawer_ep000009/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..434cdbbbf4e37eb1f1931dda205007bb86d31224
--- /dev/null
+++ b/150case/cases/drawer_ep000009/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "ff99a8e6a2925985c62a5943e58cfbe6569853f7735ebfcd12b8d532aeeb4e41",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 0.06007988356922003,
+      "orientation_error_max_rad": 0.3607660471516476,
+      "position_error_p95_m": 3.859238015473806e-06,
+      "max_joint_step_rad": 2.2114304306348957
+    },
+    "right": {
+      "position_error_max_m": 1.998049489141851e-05,
+      "orientation_error_max_rad": 0.0001569366848653601,
+      "position_error_p95_m": 1.5191978390003897e-05,
+      "max_joint_step_rad": 0.12364837206548157
+    }
+  },
+  "wall_s": 0.6259747021831572,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000009/source_reference/scene.xml b/150case/cases/drawer_ep000009/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e0b6bc239b15625dee089ca5c75f411055cdc897
--- /dev/null
+++ b/150case/cases/drawer_ep000009/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="-0.227132894026 -0.990710940049 1.03772550992" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.281425509922" 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 0.287425509922" 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 0.287425509922" 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 0.287425509922" 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 0.281425509922" 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 -0.0678744900778" 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 0.0621255099222" 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 0.0621255099222" 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 0.192125509922" 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 0.192125509922" 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="0.23855671581 -0.804206802512 0.7753" quat="-0.323736436798 0 0 0.946147303272">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000009/source_scene.json b/150case/cases/drawer_ep000009/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f9da1f178729ac2d4af52252ab9acf0e89240d3
--- /dev/null
+++ b/150case/cases/drawer_ep000009/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22713289402628178,
+        -0.9907109400487162,
+        1.0377255099222302
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5748510198444607
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        -0.22713289402628178,
+        -0.9607109400487163,
+        0.9698510198444604
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.2
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22713289402628178,
+        -0.8357109400487163,
+        0.9351510198444605
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2821328940262818,
+        -0.8477109400487163,
+        0.9351510198444605
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.1721328940262818,
+        -0.8477109400487163,
+        0.9351510198444605
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22713289402628178,
+        -0.8437109400487163,
+        1.0998510198444604
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22713289402628178,
+        -0.8227109400487163,
+        1.0998510198444604
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22713289402628178,
+        -0.8437109400487163,
+        1.2298510198444603
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.22713289402628178,
+        -0.8227109400487163,
+        1.2298510198444603
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        0.23855671581022678,
+        -0.8042068025118496,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.482240773812922,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000012/asset/manifest.json b/150case/cases/drawer_ep000012/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad78240fe9ef2677db707e6ad6b7480b3367eed3
--- /dev/null
+++ b/150case/cases/drawer_ep000012/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "429afd10ae166929fbdae30abb784a63c708c3f181097643f5e403ecab5efb82"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "right",
+    "block_hand": "left",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.3419158031280962,
+    "cycles": {
+      "left": 1,
+      "right": 2
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000012/inputs/case.json b/150case/cases/drawer_ep000012/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..96ea4c4a591233b6272ebee729180194f2ff6de2
--- /dev/null
+++ b/150case/cases/drawer_ep000012/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 12,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000012.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000012.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000012.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000012.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 12,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "6232807ab74683d46354d4c4cd5d76bb48a8a1eae8cddbd3d7705b803d83474c",
+  "source_rows": 940,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "57e87b27c849ba34b61a826b0e761fa4216c3e9fae136b817d188f8dc7f4ec75"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000012/source_config.json b/150case/cases/drawer_ep000012/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..69a2f1690f8dffc3a3289f8d877614af03c2e3b6
--- /dev/null
+++ b/150case/cases/drawer_ep000012/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000012",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000012",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000012/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000012/candidate_003/asset",
+  "engineered_task_asset_sha256": "39d4520e6d0dd3dc857e252f262fedd54a8310cf758606e1c4ba6f5707b14105",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000012/inputs/source_eef_ik/e1073a3b857b33e5a4f1/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000012/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000013/asset/definition.json b/150case/cases/drawer_ep000013/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..bba08ded178fcffa6d450985606f61f636c20555
--- /dev/null
+++ b/150case/cases/drawer_ep000013/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20706588145118596,
+          -0.9915155042275436,
+          1.0373156279006568
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5740312558013136
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          -0.20706588145118596,
+          -0.9615155042275437,
+          0.9690312558013134
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.18
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20706588145118596,
+          -0.8365155042275437,
+          0.9343312558013135
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2620658814511859,
+          -0.8485155042275437,
+          0.9343312558013135
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.15206588145118596,
+          -0.8485155042275437,
+          0.9343312558013135
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20706588145118596,
+          -0.8445155042275437,
+          1.0990312558013136
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20706588145118596,
+          -0.8235155042275437,
+          1.0990312558013136
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20706588145118596,
+          -0.8445155042275437,
+          1.2290312558013134
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20706588145118596,
+          -0.8235155042275437,
+          1.2290312558013134
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          0.2223046350087709,
+          -0.7942853754002593,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.2336909300447187,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "right",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000013/asset/manifest.json b/150case/cases/drawer_ep000013/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdb0beb327676bc7d107f4726cfdb8e04f41a1e1
--- /dev/null
+++ b/150case/cases/drawer_ep000013/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "14924b3d6af91b42480c1005d3d5640e5e1423520a3a46d1e8c292af9254e8c8"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "right",
+    "block_hand": "left",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.37290950655222,
+    "cycles": {
+      "left": 2,
+      "right": 2
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000013/inputs/case.json b/150case/cases/drawer_ep000013/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f429c2b32e90e2968c94b7d204d8434304dd4a0
--- /dev/null
+++ b/150case/cases/drawer_ep000013/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 13,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000013.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000013.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000013.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000013.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 13,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "366951a52cab589a9247d01f0ddbfb253512c14646958fa70f9868b44a03fe38",
+  "source_rows": 1135,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "6dcb4a35fd51416a7547ef8dcfe4c922a39481d0f38c8536d4aa9f13708c3b4b"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000013/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000013/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000013/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
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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">
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+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LR_Link" />
+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
+          <inertial pos="-0.23187 0.033333 0" quat="0.0851505 0.715372 -0.0840248 0.688427" mass="5.6183" diaginertia="0.0175257 0.0129591 0.00795872" />
+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
+          <body name="astribot_torso_link_3" pos="-0.39 0 0" gravcomp="0" quat="0.98962549373999498 0 0 0.14367109013253554">
+            <inertial pos="0.133333 -0.086872 0" quat="0.00834705 0.708024 0.00970003 0.706073" mass="0.49013" diaginertia="0.000380401 0.000365211 0.000222118" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_3" />
+            <body name="astribot_torso_link_4" pos="0 0 0" quat="0.49969040546151655 0.50030740665236773 -0.49969440546076005 -0.50030740419236785" gravcomp="0">
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+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_base_link" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
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+                  <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" />
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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" />
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+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000013/source_config.json b/150case/cases/drawer_ep000013/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c52f8a7b3e0c21d5a4ab0846e7cddfbc88b3f53
--- /dev/null
+++ b/150case/cases/drawer_ep000013/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000013",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000013",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000013/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000013/candidate_000/asset",
+  "engineered_task_asset_sha256": "30574838aff5ca82c09b03dfa6dce2292892545659884a1a54693e61d80b4969",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000013/inputs/source_eef_ik/c557bdba38ff02d3ffd5/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000013/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000013/source_eef_receipt.json b/150case/cases/drawer_ep000013/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..069863a1ff9c09a2e3acf7bd1cabdbedb24c42d4
--- /dev/null
+++ b/150case/cases/drawer_ep000013/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "366951a52cab589a9247d01f0ddbfb253512c14646958fa70f9868b44a03fe38",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.857506489121511e-05,
+      "orientation_error_max_rad": 0.00013682549706989374,
+      "position_error_p95_m": 6.285195553972766e-06,
+      "max_joint_step_rad": 0.10482121796147367
+    },
+    "right": {
+      "position_error_max_m": 0.015928882408096978,
+      "orientation_error_max_rad": 0.2291286799308293,
+      "position_error_p95_m": 0.001279040009779683,
+      "max_joint_step_rad": 2.892676689514159
+    }
+  },
+  "wall_s": 1.7920052423141897,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000013/source_reference/scene.xml b/150case/cases/drawer_ep000013/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6de591870940dcbbbb63ce6f86d1772c49cb5f1b
--- /dev/null
+++ b/150case/cases/drawer_ep000013/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="-0.207065881451 -0.991515504228 1.0373156279" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.281015627901" 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 0.287015627901" 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 0.287015627901" 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 0.287015627901" 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 0.281015627901" 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 -0.0682843720993" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.18" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0617156279007" 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 0.0617156279007" 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 0.191715627901" 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 0.191715627901" 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="0.222304635009 -0.7942853754 0.7753" quat="-0.43851967214 0 0 0.898721590453">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000013/source_scene.json b/150case/cases/drawer_ep000013/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2080a0191411f8ea8289697cb9742b4eb4a0186
--- /dev/null
+++ b/150case/cases/drawer_ep000013/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.20706588145118596,
+        -0.9915155042275436,
+        1.0373156279006568
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5740312558013136
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        -0.20706588145118596,
+        -0.9615155042275437,
+        0.9690312558013134
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.18
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.20706588145118596,
+        -0.8365155042275437,
+        0.9343312558013135
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2620658814511859,
+        -0.8485155042275437,
+        0.9343312558013135
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.15206588145118596,
+        -0.8485155042275437,
+        0.9343312558013135
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.20706588145118596,
+        -0.8445155042275437,
+        1.0990312558013136
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.20706588145118596,
+        -0.8235155042275437,
+        1.0990312558013136
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.20706588145118596,
+        -0.8445155042275437,
+        1.2290312558013134
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.20706588145118596,
+        -0.8235155042275437,
+        1.2290312558013134
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        0.2223046350087709,
+        -0.7942853754002593,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.2336909300447187,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000014/asset/definition.json b/150case/cases/drawer_ep000014/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0d923b26ffe347db1cbb493a43912abb583bf57
--- /dev/null
+++ b/150case/cases/drawer_ep000014/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20593704362711426,
+          -0.9928967762643742,
+          1.038805696485693
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5814988452814607
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          -0.20593704362711426,
+          -0.9628967762643743,
+          0.9742551191264233
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.19
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20593704362711426,
+          -0.8378967762643743,
+          0.9395551191264233
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.26093704362711423,
+          -0.8498967762643743,
+          0.9395551191264233
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.15093704362711427,
+          -0.8498967762643743,
+          0.9395551191264233
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20593704362711426,
+          -0.8458967762643743,
+          1.1042551191264232
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20593704362711426,
+          -0.8248967762643743,
+          1.1042551191264232
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20593704362711426,
+          -0.8458967762643743,
+          1.234255119126423
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.20593704362711426,
+          -0.8248967762643743,
+          1.234255119126423
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          0.27780818931628243,
+          -0.804394866152547,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.2391672243574083,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "right",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000014/asset/manifest.json b/150case/cases/drawer_ep000014/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d802c1fc417afd03776cb7b43961c054d07260e
--- /dev/null
+++ b/150case/cases/drawer_ep000014/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_drawer_actionfit",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "ac893036560bbcf12c541c3bf82377ef2e3fac4ca3e2cc0332394d2f97939cbb"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000014/inputs/case.json b/150case/cases/drawer_ep000014/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee4335ae50ae784f2768a82787aa86387c85d452
--- /dev/null
+++ b/150case/cases/drawer_ep000014/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 14,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000014.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000014.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000014.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000014.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 14,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "7cc7cb0efee049af3b2c4f93c5b3e330a7897a5a631fcab813768b0c069c1efb",
+  "source_rows": 918,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "67b4df9575f72027246f9510ad08013b80efdc2487b00a4ec58570803dad11b1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000014/source_config.json b/150case/cases/drawer_ep000014/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbc7f6d8046816715b4c1adc291a6f3a29218f77
--- /dev/null
+++ b/150case/cases/drawer_ep000014/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000014",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000014",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000014/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_drawer_actionfit_20260920/drawer/episode_000014/candidate_02/asset",
+  "engineered_task_asset_sha256": "81c88a2d5079e900ac15b7f5ab5c5d66559b1544a0f119de5a384ed6c551ab2b",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000014/inputs/source_eef_ik/6a690cd7bb1955daa325/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000014/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000014/source_eef_receipt.json b/150case/cases/drawer_ep000014/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..f618e2bd3202d6c3c2598316e17ce575016d284a
--- /dev/null
+++ b/150case/cases/drawer_ep000014/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "7cc7cb0efee049af3b2c4f93c5b3e330a7897a5a631fcab813768b0c069c1efb",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.925112464956716e-05,
+      "orientation_error_max_rad": 9.84069548756659e-05,
+      "position_error_p95_m": 9.46730837886301e-06,
+      "max_joint_step_rad": 0.08137692679427225
+    },
+    "right": {
+      "position_error_max_m": 0.03994894161468726,
+      "orientation_error_max_rad": 0.5975829619798392,
+      "position_error_p95_m": 1.4726397884480098e-05,
+      "max_joint_step_rad": 2.076801964351932
+    }
+  },
+  "wall_s": 0.6585624651052058,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000014/source_reference/scene.xml b/150case/cases/drawer_ep000014/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..519172922c0cac471ec160252178d5aca808b2cb
--- /dev/null
+++ b/150case/cases/drawer_ep000014/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="-0.205937043627 -0.992896776264 1.03880569649" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.284749422641" 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 0.290749422641" 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 0.290749422641" 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 0.290749422641" 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 0.284749422641" 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 -0.0645505773593" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.19" 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 0.0654494226407" 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 0.0654494226407" 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 0.195449422641" 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 0.195449422641" 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="0.277808189316 -0.804394866153 0.7753" quat="-0.436057199359 0 0 0.899918951288">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000018/asset/definition.json b/150case/cases/drawer_ep000018/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b1b97112a9c1f9397d6b329a5d5d5e61c450764
--- /dev/null
+++ b/150case/cases/drawer_ep000018/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.19583762874788044,
+          -0.9966466428949623,
+          1.0342029219296238
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5778058438592473
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          -0.19583762874788044,
+          -0.9666466428949624,
+          0.967805843859247
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.2
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.19583762874788044,
+          -0.8416466428949624,
+          0.933105843859247
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.2508376287478804,
+          -0.8536466428949624,
+          0.933105843859247
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.14083762874788044,
+          -0.8536466428949624,
+          0.933105843859247
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.19583762874788044,
+          -0.8496466428949624,
+          1.097805843859247
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.19583762874788044,
+          -0.8286466428949624,
+          1.097805843859247
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.19583762874788044,
+          -0.8496466428949624,
+          1.227805843859247
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          -0.19583762874788044,
+          -0.8286466428949624,
+          1.227805843859247
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          0.30701008198572105,
+          -0.8085043864628344,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.329780408520953,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "right",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000018/asset/manifest.json b/150case/cases/drawer_ep000018/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..93b33afc104e16972d2d108ba5b035ee413bbf14
--- /dev/null
+++ b/150case/cases/drawer_ep000018/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_source_repair",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "ef101b03358c784907b09097ea4d4fb084ce1322f5385ce12c63d15aa570f24a"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000018/inputs/case.json b/150case/cases/drawer_ep000018/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..da0e1412e2bf1f22f8f3a42fd0a640d1f0a350c1
--- /dev/null
+++ b/150case/cases/drawer_ep000018/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 18,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000018.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000018.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000018.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000018.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 18,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "d693a3f9bc2760faca368a164304cc306e21f0e8e4e0187370897e6dc6122590",
+  "source_rows": 962,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "6d3fd7ec4388e00236c82761e44e0e83dff4b96247ec21323b7d78763d15e1f9"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000018/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000018/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000018/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
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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">
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+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
+          <body name="astribot_torso_link_3" pos="-0.39 0 0" gravcomp="0" quat="0.98962549373999498 0 0 0.14367109013253554">
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+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
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+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
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+                <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">
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+                  <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">
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+                    <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">
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+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
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+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
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+                <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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+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
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+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
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+                      <joint name="astribot_arm_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" />
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+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000018/source_config.json b/150case/cases/drawer_ep000018/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..7681e3639e9e96283ed4949f7d7233f5765da900
--- /dev/null
+++ b/150case/cases/drawer_ep000018/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000018",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000018",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000018/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_source_repair_20260920/drawer/episode_000018/candidate_31/asset",
+  "engineered_task_asset_sha256": "a367b33fb95d967c470022632d3a631658c4a545c71c306ebef17e23a5a10c25",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000018/inputs/source_eef_ik/4a5f92ef0fc3c1906bc0/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000018/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000018/source_eef_receipt.json b/150case/cases/drawer_ep000018/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb5feb0fa561072d28a2f46975f94f9d8ebd6b8
--- /dev/null
+++ b/150case/cases/drawer_ep000018/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "d693a3f9bc2760faca368a164304cc306e21f0e8e4e0187370897e6dc6122590",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
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+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
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+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
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+              0.999462342916746,
+              0.0,
+              -0.308223982056
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+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 0.02738818082355127,
+      "orientation_error_max_rad": 0.20752278808027827,
+      "position_error_p95_m": 1.4966064245705637e-05,
+      "max_joint_step_rad": 1.9043572861270126
+    },
+    "right": {
+      "position_error_max_m": 0.03841021588947187,
+      "orientation_error_max_rad": 0.5975737034755741,
+      "position_error_p95_m": 1.3759186997415577e-05,
+      "max_joint_step_rad": 2.045095703153959
+    }
+  },
+  "wall_s": 0.7612818921916187,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000018/source_reference/scene.xml b/150case/cases/drawer_ep000018/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5e11bd186b152ed868ea8c5afd823437a2d8459a
--- /dev/null
+++ b/150case/cases/drawer_ep000018/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
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+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
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+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
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+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
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+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="-0.195837628748 -0.996646642895 1.03420292193" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.28290292193" 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 0.28890292193" 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 0.28890292193" 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 0.28890292193" 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 0.28290292193" 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 -0.0663970780704" 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 0.0636029219296" 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 0.0636029219296" 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 0.19360292193" 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 0.19360292193" 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="0.307010081986 -0.808504386463 0.7753" quat="-0.394851417894 0 0 0.918744990619">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000018/source_scene.json b/150case/cases/drawer_ep000018/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c6c710057428095ad124da6eccd95f0cfa5db60
--- /dev/null
+++ b/150case/cases/drawer_ep000018/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.19583762874788044,
+        -0.9966466428949623,
+        1.0342029219296238
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5778058438592473
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        -0.19583762874788044,
+        -0.9666466428949624,
+        0.967805843859247
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.2
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.19583762874788044,
+        -0.8416466428949624,
+        0.933105843859247
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2508376287478804,
+        -0.8536466428949624,
+        0.933105843859247
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.14083762874788044,
+        -0.8536466428949624,
+        0.933105843859247
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.19583762874788044,
+        -0.8496466428949624,
+        1.097805843859247
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.19583762874788044,
+        -0.8286466428949624,
+        1.097805843859247
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.19583762874788044,
+        -0.8496466428949624,
+        1.227805843859247
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.19583762874788044,
+        -0.8286466428949624,
+        1.227805843859247
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        0.30701008198572105,
+        -0.8085043864628344,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.329780408520953,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000021/asset/manifest.json b/150case/cases/drawer_ep000021/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..29e941daf70ea960eccf073bc757f6712c4dc235
--- /dev/null
+++ b/150case/cases/drawer_ep000021/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "24a2852410e64bc5aaea5bdc3b59c964ab30421f09375832fbfab6f5625cee0e"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "right",
+    "block_hand": "left",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.33276893767117777,
+    "cycles": {
+      "left": 2,
+      "right": 2
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000021/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000021/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000021/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
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+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000021/source_config.json b/150case/cases/drawer_ep000021/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f5ab57bd3278f94376e592d389079de13f56e0d
--- /dev/null
+++ b/150case/cases/drawer_ep000021/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000021",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000021",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000021/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000021/candidate_000/asset",
+  "engineered_task_asset_sha256": "0da141a0e6b41ed90de18760bfae145a0cd3b2ead3b42f8b612ad5d49b413f02",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000021/inputs/source_eef_ik/da76d2e335331be161ad/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000021/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000021/source_reference/scene.xml b/150case/cases/drawer_ep000021/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cff93d4d64f33ada6d7a41ed9808e8cac9f5485c
--- /dev/null
+++ b/150case/cases/drawer_ep000021/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="-0.20579566894 -0.977009129182 1.0382225722" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.2819225722" 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 0.2879225722" 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 0.2879225722" 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 0.2879225722" 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 0.2819225722" 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 -0.0673774277996" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.18" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0626225722004" 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 0.0626225722004" 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 0.1926225722" 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 0.1926225722" 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="0.203994274924 -0.813168668273 0.7753" quat="-0.253924693651 0 0 0.967223991614">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000021/source_scene.json b/150case/cases/drawer_ep000021/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..cae5d3d4a85b8677059e8a53b02cefe6fda6c1f3
--- /dev/null
+++ b/150case/cases/drawer_ep000021/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2057956689398242,
+        -0.9770091291824965,
+        1.038222572200378
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5758451444007557
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        -0.2057956689398242,
+        -0.9470091291824966,
+        0.9708451444007555
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.18
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2057956689398242,
+        -0.8220091291824966,
+        0.9361451444007556
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2607956689398242,
+        -0.8340091291824966,
+        0.9361451444007556
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.1507956689398242,
+        -0.8340091291824966,
+        0.9361451444007556
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2057956689398242,
+        -0.8300091291824966,
+        1.1008451444007556
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2057956689398242,
+        -0.8090091291824966,
+        1.1008451444007556
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2057956689398242,
+        -0.8300091291824966,
+        1.2308451444007555
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        -0.2057956689398242,
+        -0.8090091291824966,
+        1.2308451444007555
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        0.20399427492411315,
+        -0.8131686682728954,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.628121062027225,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000025/asset/definition.json b/150case/cases/drawer_ep000025/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..0da1b17d931bb19cf48b83821216d8ee4bc14b22
--- /dev/null
+++ b/150case/cases/drawer_ep000025/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15438259502419582,
+          -1.0273998204533252,
+          1.0499373033976407
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5992746067952817
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          0.15438259502419582,
+          -0.9973998204533254,
+          0.9942746067952811
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.18
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15438259502419582,
+          -0.8723998204533254,
+          0.9595746067952812
+        ],
+        "size_m": [
+          0.13,
+          0.026,
+          0.026
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.09938259502419583,
+          -0.8843998204533254,
+          0.9595746067952812
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.20938259502419582,
+          -0.8843998204533254,
+          0.9595746067952812
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15438259502419582,
+          -0.8803998204533254,
+          1.1242746067952811
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15438259502419582,
+          -0.8593998204533254,
+          1.1242746067952811
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15438259502419582,
+          -0.8803998204533254,
+          1.254274606795281
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15438259502419582,
+          -0.8593998204533254,
+          1.254274606795281
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          -0.25219895917438834,
+          -0.8051548380579391,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.0451786098802154,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "left",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "right",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000025/asset/manifest.json b/150case/cases/drawer_ep000025/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c660c2536bc700ea63a62a368913b20916fa275
--- /dev/null
+++ b/150case/cases/drawer_ep000025/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "4384d35c618ea4067da9f0099ea0d756722e0f745f65cf4a7b1959a36c3fe610"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "left",
+    "block_hand": "right",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.3215448101501758,
+    "cycles": {
+      "left": 2,
+      "right": 1
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000025/inputs/case.json b/150case/cases/drawer_ep000025/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..d953380003ef45c99172a163edc382452f5de930
--- /dev/null
+++ b/150case/cases/drawer_ep000025/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 25,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000025.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000025.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000025.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000025.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 25,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "2b41e93664db56baf381c1a6dbe515a7f6c310d2cfe7a5bd4a97e7947e1db119",
+  "source_rows": 581,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "ca51ac1b78e2254c57377b2c9a30032ce29ee3263ef18dd7a766263cd25f41ff"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000025/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000025/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000025/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
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+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000025/source_config.json b/150case/cases/drawer_ep000025/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..38980b09fb668c605a0ec9e7b27bb8592c1c7bc4
--- /dev/null
+++ b/150case/cases/drawer_ep000025/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000025",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000025",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000025/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000025/candidate_005/asset",
+  "engineered_task_asset_sha256": "e0c497ff46faa221b927340f1135b6c754f044bb1287e17e34011909722e209a",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000025/inputs/source_eef_ik/83e6482e6fa07b7529c8/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_precision_refit_20260920/drawer/episode_000025/candidate_02/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000025/source_eef_receipt.json b/150case/cases/drawer_ep000025/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..45baec11f0e4670a4f159ced87745c3dcf3c7833
--- /dev/null
+++ b/150case/cases/drawer_ep000025/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "2b41e93664db56baf381c1a6dbe515a7f6c310d2cfe7a5bd4a97e7947e1db119",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
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+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
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+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
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+              1.0,
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+            ],
+            [
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+              0.0,
+              0.0,
+              1.0
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+          ],
+          "source_reference_from_grasp": [
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+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
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+              0.0
+            ],
+            [
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+              0.0,
+              1.0,
+              0.13366940357801368
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+            [
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+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
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+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
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+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
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+            [
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+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9479734076759985e-05,
+      "orientation_error_max_rad": 0.00014583403338177685,
+      "position_error_p95_m": 1.2276147919333321e-05,
+      "max_joint_step_rad": 0.05640050974015032
+    },
+    "right": {
+      "position_error_max_m": 1.961209168568055e-05,
+      "orientation_error_max_rad": 0.00016570146759213431,
+      "position_error_p95_m": 1.005632129201363e-05,
+      "max_joint_step_rad": 0.07333181005262501
+    }
+  },
+  "wall_s": 0.4372439431026578,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000026/asset/manifest.json b/150case/cases/drawer_ep000026/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9322c0570224a1c8f4f9aa86caca5297e8a6f8c
--- /dev/null
+++ b/150case/cases/drawer_ep000026/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "79673bcb02f897919928e0c87ca00a44ff66edf4a0e0112ae739470a1e4e2e82"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "left",
+    "block_hand": "right",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.33184086530840173,
+    "cycles": {
+      "left": 2,
+      "right": 1
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000026/inputs/case.json b/150case/cases/drawer_ep000026/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..433dba58da9d0f232141237e2211f537c4ac04db
--- /dev/null
+++ b/150case/cases/drawer_ep000026/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 26,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000026.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000026.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000026.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000026.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 26,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "5f3793059d03738d0c24b46e561112812de3a424a3ed4f24a3c401785b6de47d",
+  "source_rows": 596,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "f905f99a252d72e63cf238242e06899f39662fe429ff60c12eb5ec8bdcf0a522"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000026/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000026/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000026/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
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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">
+        <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">
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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" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_base_link" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
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+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000026/source_config.json b/150case/cases/drawer_ep000026/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..21024b424259a1105efb2c9d0c189be9d7e43710
--- /dev/null
+++ b/150case/cases/drawer_ep000026/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000026",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000026",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000026/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000026/candidate_000/asset",
+  "engineered_task_asset_sha256": "0b0e70bf2e426853403050eb32d441f7647ccba91040d6f31f10df511e7bbf24",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000026/inputs/source_eef_ik/3f3412161c0b2dde0e3a/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000026/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000026/source_eef_receipt.json b/150case/cases/drawer_ep000026/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..24fe5724b5327e4bd024c36d1e415f288d28d374
--- /dev/null
+++ b/150case/cases/drawer_ep000026/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "5f3793059d03738d0c24b46e561112812de3a424a3ed4f24a3c401785b6de47d",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
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+        ]
+      ],
+      "chains": {
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+            [
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+          "target_site_from_grasp": [
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+              -8.180830114382886e-38,
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+              0.0
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+            [
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+            [
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+        "right": {
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+          "source_reference_from_grasp": [
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+          "target_site_from_grasp": [
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+              1.0
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+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
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+        0.0,
+        3.14
+      ],
+      "left_joint3": [
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+      ],
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+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
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+        0.0,
+        0.0475
+      ],
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+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9992171357981977e-05,
+      "orientation_error_max_rad": 0.0001590961997569609,
+      "position_error_p95_m": 7.939906570636464e-06,
+      "max_joint_step_rad": 0.06452674752329302
+    },
+    "right": {
+      "position_error_max_m": 1.8366650061774545e-05,
+      "orientation_error_max_rad": 0.00014302099835679564,
+      "position_error_p95_m": 2.2797131670239752e-06,
+      "max_joint_step_rad": 0.07687522723713452
+    }
+  },
+  "wall_s": 0.4339655600488186,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000027/inputs/case.json b/150case/cases/drawer_ep000027/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cc1dbcd478b47b89df2fe6281cb70cf63484100
--- /dev/null
+++ b/150case/cases/drawer_ep000027/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 27,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000027.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000027.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000027.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000027.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 27,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "75b038785894768f26d6d78d5db8bc03745db3d77b58e270dd980c0f8f5f00d7",
+  "source_rows": 601,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "36d1420f84714b0174a88e38e2bf22cdef5ac746ad67d47b762db2d197a7ab5e"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000027/source_config.json b/150case/cases/drawer_ep000027/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..6170c1631a5c755776082c33603831f946eeb1d4
--- /dev/null
+++ b/150case/cases/drawer_ep000027/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000027",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000027",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000027/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000027/candidate_000/asset",
+  "engineered_task_asset_sha256": "02f77695427a676024d2d553e966e903b4e7d9da4347face5a6ab2c09a955978",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000027/inputs/source_eef_ik/632f7f7a51356bdd3ec6/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000027/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000029/asset/definition.json b/150case/cases/drawer_ep000029/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..dec7d0c673d40c9040d28b5b33342d3aeb5b7738
--- /dev/null
+++ b/150case/cases/drawer_ep000029/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17866815102901157,
+          -1.0211245051604951,
+          1.0468058729540652
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5930117459081305
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          0.17866815102901157,
+          -0.9911245051604952,
+          0.9880117459081303
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.18
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17866815102901157,
+          -0.8661245051604952,
+          0.9533117459081304
+        ],
+        "size_m": [
+          0.13,
+          0.026,
+          0.026
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.12366815102901157,
+          -0.8781245051604952,
+          0.9533117459081304
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.23366815102901156,
+          -0.8781245051604952,
+          0.9533117459081304
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17866815102901157,
+          -0.8741245051604952,
+          1.1180117459081305
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17866815102901157,
+          -0.8531245051604952,
+          1.1180117459081305
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17866815102901157,
+          -0.8741245051604952,
+          1.2480117459081304
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17866815102901157,
+          -0.8531245051604952,
+          1.2480117459081304
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          -0.19819340670124608,
+          -0.8099466606005289,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.3784217915505463,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "left",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "right",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000029/asset/manifest.json b/150case/cases/drawer_ep000029/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3239dacf6a3a8ae8f7cb2fe3d00d80a7762faba
--- /dev/null
+++ b/150case/cases/drawer_ep000029/asset/manifest.json
@@ -0,0 +1,8 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v64_registration",
+  "files": {
+    "definition.json": "8380a4d3bb56197ed218a8d52f2cf5de53bf62a39a0c049b9fe485ee0bfb80ea"
+  },
+  "task_id": "dm6"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000029/inputs/case.json b/150case/cases/drawer_ep000029/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d944a7802979d5d114b717898a815b8dbfc67a
--- /dev/null
+++ b/150case/cases/drawer_ep000029/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 29,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000029.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000029.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000029.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000029.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 29,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "414bc492ea76ebd53e15b731a772ba8893a4099c0cf0ce3f9c781635ede1edfc",
+  "source_rows": 590,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "a99f674ddb3be108e7fec65d814f8b6011a266122807de7fda1858198e82e5c4"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000029/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000029/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000029/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
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+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
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+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000029/source_config.json b/150case/cases/drawer_ep000029/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..7816b36ae9039e5c8d1b8596b85246233fc1f6ed
--- /dev/null
+++ b/150case/cases/drawer_ep000029/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000029",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000029",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000029/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v64_registration_fit_20260920/drawer/episode_000029/candidate_00/asset",
+  "engineered_task_asset_sha256": "e7dd069a84b3dd4581799315bbaf8f4d715d5686427fed9706abde5e74b8ead6",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000029/inputs/source_eef_ik/bae7e1023c3ee7a0ea9e/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v64_registration_fit_20260920/drawer/episode_000029/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000029/source_eef_receipt.json b/150case/cases/drawer_ep000029/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..25de21714b9199f34512df79cacd1ff16bdf7dc5
--- /dev/null
+++ b/150case/cases/drawer_ep000029/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "414bc492ea76ebd53e15b731a772ba8893a4099c0cf0ce3f9c781635ede1edfc",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9471319534208765e-05,
+      "orientation_error_max_rad": 0.00012672029173932208,
+      "position_error_p95_m": 8.373163094586636e-06,
+      "max_joint_step_rad": 0.081911292947906
+    },
+    "right": {
+      "position_error_max_m": 1.657238888770634e-05,
+      "orientation_error_max_rad": 0.00011282474798804653,
+      "position_error_p95_m": 1.7171787310028709e-06,
+      "max_joint_step_rad": 0.08457503582193049
+    }
+  },
+  "wall_s": 0.42542210267856717,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000029/source_reference/scene.xml b/150case/cases/drawer_ep000029/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e37ddd6e2f89863284832537560a13a1c97080ba
--- /dev/null
+++ b/150case/cases/drawer_ep000029/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
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+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.013 0.013" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0712058729541" 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 0.0712058729541" 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 0.201205872954" 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 0.201205872954" 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="-0.198193406701 -0.809946660601 0.7753" quat="0.771748069003 0 0 -0.635928390615">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000029/source_scene.json b/150case/cases/drawer_ep000029/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..284e51f5793d60a29cbdf278a5b77e7eeb4c1614
--- /dev/null
+++ b/150case/cases/drawer_ep000029/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17866815102901157,
+        -1.0211245051604951,
+        1.0468058729540652
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5930117459081305
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        0.17866815102901157,
+        -0.9911245051604952,
+        0.9880117459081303
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.18
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17866815102901157,
+        -0.8661245051604952,
+        0.9533117459081304
+      ],
+      "size_m": [
+        0.13,
+        0.026,
+        0.026
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.12366815102901157,
+        -0.8781245051604952,
+        0.9533117459081304
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.23366815102901156,
+        -0.8781245051604952,
+        0.9533117459081304
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17866815102901157,
+        -0.8741245051604952,
+        1.1180117459081305
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17866815102901157,
+        -0.8531245051604952,
+        1.1180117459081305
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17866815102901157,
+        -0.8741245051604952,
+        1.2480117459081304
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17866815102901157,
+        -0.8531245051604952,
+        1.2480117459081304
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        -0.19819340670124608,
+        -0.8099466606005289,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.3784217915505463,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000034/asset/definition.json b/150case/cases/drawer_ep000034/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e512e60dea390e8179d7cacb213277377bc90a9
--- /dev/null
+++ b/150case/cases/drawer_ep000034/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.1795818285781014,
+          -1.027435759847584,
+          1.0441583960951784
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.587716792190357
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          0.1795818285781014,
+          -0.997435759847584,
+          0.9827167921903568
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.18
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.1795818285781014,
+          -0.872435759847584,
+          0.9480167921903568
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.1245818285781014,
+          -0.884435759847584,
+          0.9480167921903568
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.2345818285781014,
+          -0.884435759847584,
+          0.9480167921903568
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.1795818285781014,
+          -0.880435759847584,
+          1.112716792190357
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.1795818285781014,
+          -0.859435759847584,
+          1.112716792190357
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.1795818285781014,
+          -0.880435759847584,
+          1.2427167921903568
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.1795818285781014,
+          -0.859435759847584,
+          1.2427167921903568
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          -0.30435955537572124,
+          -0.754951098120549,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.596154830032292,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "left",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "right",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000034/asset/manifest.json b/150case/cases/drawer_ep000034/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..51a7bad9bc53d758ba09ddfe0c3c03c62e6ee851
--- /dev/null
+++ b/150case/cases/drawer_ep000034/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "a1b01618820c8215e504ef532d23361a32be7d42bb9488b93b947153f9153182"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "left",
+    "block_hand": "right",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.3236906817330151,
+    "cycles": {
+      "left": 2,
+      "right": 1
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000034/inputs/case.json b/150case/cases/drawer_ep000034/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..401184ba5320dc6fcb2c17a691c7189f2b546a9e
--- /dev/null
+++ b/150case/cases/drawer_ep000034/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 34,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000034.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000034.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000034.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000034.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 34,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "50cfe91df0dd93a2f752c2ca69c967c8801480241eddda90b3cff0e8b21920f9",
+  "source_rows": 587,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "74cd89234659863fab2d337e8a97426658df12d474576ec1589b16c90a7387fe"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000034/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000034/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000034/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
+        <inertial pos="-2.7619e-07 1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
+      </body>
+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
+        <inertial pos="0.0019998 -0.0070713 0.014539" quat="0.653281 0.270598 -0.653281 0.270598" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LR_Link" />
+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
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+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
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+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
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+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
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+                  <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">
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+                    <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">
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+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
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+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
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+                <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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+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
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+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
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+                      <joint name="astribot_arm_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" />
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+                        <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" />
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+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000034/source_config.json b/150case/cases/drawer_ep000034/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0bc57322490ff4ede8475b404f358fceeeb220a
--- /dev/null
+++ b/150case/cases/drawer_ep000034/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000034",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000034",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000034/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000034/candidate_000/asset",
+  "engineered_task_asset_sha256": "e3bc69828dee08adae49a317e57e6602485f2be4dfcebd52bc6a5a62d460039a",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000034/inputs/source_eef_ik/c20ccd6f73379145f5ac/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000034/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000034/source_eef_receipt.json b/150case/cases/drawer_ep000034/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fa727f42802043838c1abc994f6fe1e213cea93
--- /dev/null
+++ b/150case/cases/drawer_ep000034/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "50cfe91df0dd93a2f752c2ca69c967c8801480241eddda90b3cff0e8b21920f9",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.979675687814762e-05,
+      "orientation_error_max_rad": 0.00015952415484906787,
+      "position_error_p95_m": 1.2888672670007556e-05,
+      "max_joint_step_rad": 0.23452866016265778
+    },
+    "right": {
+      "position_error_max_m": 1.749885508343339e-05,
+      "orientation_error_max_rad": 0.00013386902999785216,
+      "position_error_p95_m": 1.5463259313328078e-06,
+      "max_joint_step_rad": 1.0091443406080138
+    }
+  },
+  "wall_s": 0.44847798300907016,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000034/source_reference/scene.xml b/150case/cases/drawer_ep000034/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..90e702a9476d9dad94cd3562b60dce0c19503272
--- /dev/null
+++ b/150case/cases/drawer_ep000034/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="0.179581828578 -1.02743575985 1.0441583961" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.287858396095" 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 0.293858396095" 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 0.293858396095" 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 0.293858396095" 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 0.287858396095" 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 -0.0614416039048" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.18" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0685583960952" 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 0.0685583960952" 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 0.198558396095" 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 0.198558396095" 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="-0.304359555376 -0.754951098121 0.7753" quat="-0.698084598916 0 0 0.716015288074">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000034/source_scene.json b/150case/cases/drawer_ep000034/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0498b83da401d8cf01ea835846aa868663bda58
--- /dev/null
+++ b/150case/cases/drawer_ep000034/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.1795818285781014,
+        -1.027435759847584,
+        1.0441583960951784
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.587716792190357
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        0.1795818285781014,
+        -0.997435759847584,
+        0.9827167921903568
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.18
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.1795818285781014,
+        -0.872435759847584,
+        0.9480167921903568
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.1245818285781014,
+        -0.884435759847584,
+        0.9480167921903568
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.2345818285781014,
+        -0.884435759847584,
+        0.9480167921903568
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.1795818285781014,
+        -0.880435759847584,
+        1.112716792190357
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.1795818285781014,
+        -0.859435759847584,
+        1.112716792190357
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.1795818285781014,
+        -0.880435759847584,
+        1.2427167921903568
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.1795818285781014,
+        -0.859435759847584,
+        1.2427167921903568
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        -0.30435955537572124,
+        -0.754951098120549,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.596154830032292,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000036/asset/manifest.json b/150case/cases/drawer_ep000036/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e401facd8886c575773564b0ecad91a551334c9
--- /dev/null
+++ b/150case/cases/drawer_ep000036/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v64_bounded_drawer_geometry",
+  "files": {
+    "definition.json": "463607a6e3741a841600a8e0217b920296786af60922b335c319698f3fd6b1f6"
+  },
+  "task_id": "dm6",
+  "calibrated": false
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000036/inputs/case.json b/150case/cases/drawer_ep000036/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..710bfb494079799ed8e4f57a1078db76b0452928
--- /dev/null
+++ b/150case/cases/drawer_ep000036/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 36,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000036.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000036.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000036.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000036.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 36,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "cd17b67349d6d09d710362eb391f0529b9697d26466f2aed823aa619b81e9baa",
+  "source_rows": 538,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "2b98824a3fa6169c7f802512ca03a8fb0aa2b7f9af5cea37fe1bb4f0a77bceb1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000036/source_config.json b/150case/cases/drawer_ep000036/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f6cc9dd6bb37edc072985594bc02314b1c2e1bb
--- /dev/null
+++ b/150case/cases/drawer_ep000036/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000036",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000036",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000036/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v64_geometry_fit_20260920/drawer/episode_000036/candidate_00/asset",
+  "engineered_task_asset_sha256": "4e129d466e51eacba00fb1e163708958479d10ae4359a1109660ed09e948b975",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000036/inputs/source_eef_ik/5f3322e0a44e2b45bccf/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v64_geometry_fit_20260920/drawer/episode_000036/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000037/asset/definition.json b/150case/cases/drawer_ep000037/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..058d5189804dc6039c460977a89d072d39e30c19
--- /dev/null
+++ b/150case/cases/drawer_ep000037/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.16104274764664833,
+          -1.0051067114836312,
+          1.0398205476211375
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5790410952422749
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          0.16104274764664833,
+          -0.9751067114836313,
+          0.9740410952422747
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.2
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.16104274764664833,
+          -0.8501067114836313,
+          0.9393410952422747
+        ],
+        "size_m": [
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+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.10604274764664834,
+          -0.8621067114836313,
+          0.9393410952422747
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.21604274764664833,
+          -0.8621067114836313,
+          0.9393410952422747
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.16104274764664833,
+          -0.8581067114836313,
+          1.1040410952422748
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.16104274764664833,
+          -0.8371067114836312,
+          1.1040410952422748
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.16104274764664833,
+          -0.8581067114836313,
+          1.2340410952422747
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.16104274764664833,
+          -0.8371067114836312,
+          1.2340410952422747
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          -0.2162206302001351,
+          -0.7295509421895715,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -0.8875788264533231,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "left",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "right",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000037/asset/manifest.json b/150case/cases/drawer_ep000037/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d89756ea37dd209ee38d6264547d33cb4d109f5
--- /dev/null
+++ b/150case/cases/drawer_ep000037/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "67207f8c7dc740d4436c0a3469ae2057d1d723a39c8427e9707f4684cd90b13e"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "left",
+    "block_hand": "right",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.2858766381363147,
+    "cycles": {
+      "left": 2,
+      "right": 1
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000037/inputs/case.json b/150case/cases/drawer_ep000037/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..82022788028e7d97acb2843b0d8d7b9f151b6eea
--- /dev/null
+++ b/150case/cases/drawer_ep000037/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 37,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000037.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000037.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000037.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000037.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 37,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "8a2d61f78e59265ffaf5168ea5aa7da90858535adc18a6262e2743c3927acec4",
+  "source_rows": 527,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "5e7e56a6eb444e42215f0691e5ae504bec635dec3f90193b386af2058ffd503c"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000037/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000037/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000037/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
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+    <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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+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000037/source_config.json b/150case/cases/drawer_ep000037/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..d71f453810a4d4e929099c3374599fff7ea64636
--- /dev/null
+++ b/150case/cases/drawer_ep000037/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000037",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000037",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000037/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000037/candidate_010/asset",
+  "engineered_task_asset_sha256": "a5a97381925ea7bb98d67c42812cabdef187742165c3796099f3cef58ece7299",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000037/inputs/source_eef_ik/d896a55b262a5f0a2ed4/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000037/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000037/source_eef_receipt.json b/150case/cases/drawer_ep000037/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2391f50e57149830b777a2f97d7e727ce6a24ad
--- /dev/null
+++ b/150case/cases/drawer_ep000037/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "8a2d61f78e59265ffaf5168ea5aa7da90858535adc18a6262e2743c3927acec4",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
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+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
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+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
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+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.993984378941499e-05,
+      "orientation_error_max_rad": 0.00016203864710716888,
+      "position_error_p95_m": 9.054524083802709e-06,
+      "max_joint_step_rad": 0.11059412311423777
+    },
+    "right": {
+      "position_error_max_m": 1.789526113508263e-05,
+      "orientation_error_max_rad": 9.846900605939169e-05,
+      "position_error_p95_m": 2.648686450300167e-06,
+      "max_joint_step_rad": 0.0810413540038053
+    }
+  },
+  "wall_s": 0.3862744150683284,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000037/source_reference/scene.xml b/150case/cases/drawer_ep000037/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f4b870cba5bd6c0ca83271e7ad51f31ae6a7593a
--- /dev/null
+++ b/150case/cases/drawer_ep000037/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
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+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
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+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
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+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
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+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
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+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
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+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
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+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
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+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
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+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
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+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
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+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
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+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
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+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
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+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
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+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
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+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
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+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
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+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
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+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="0.161042747647 -1.00510671148 1.03982054762" quat="1 0 0 0">
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+      <body name="bottom_drawer" pos="0 0.03 -0.0657794523789" 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>
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+      <body name="middle_drawer_front" pos="0 0.147 0.0642205476211" 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 0.0642205476211" 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 0.194220547621" 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 0.194220547621" 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>
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+    <body name="red_block" pos="-0.2162206302 -0.72955094219 0.7753" quat="0.903131110488 0 0 -0.429364876612">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000037/source_scene.json b/150case/cases/drawer_ep000037/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..86374e93fb18d58a43a52f9922d0c86c8c6dc194
--- /dev/null
+++ b/150case/cases/drawer_ep000037/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.16104274764664833,
+        -1.0051067114836312,
+        1.0398205476211375
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5790410952422749
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        0.16104274764664833,
+        -0.9751067114836313,
+        0.9740410952422747
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.2
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.16104274764664833,
+        -0.8501067114836313,
+        0.9393410952422747
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.10604274764664834,
+        -0.8621067114836313,
+        0.9393410952422747
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.21604274764664833,
+        -0.8621067114836313,
+        0.9393410952422747
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.16104274764664833,
+        -0.8581067114836313,
+        1.1040410952422748
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.16104274764664833,
+        -0.8371067114836312,
+        1.1040410952422748
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.16104274764664833,
+        -0.8581067114836313,
+        1.2340410952422747
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.16104274764664833,
+        -0.8371067114836312,
+        1.2340410952422747
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        -0.2162206302001351,
+        -0.7295509421895715,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -0.8875788264533231,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000040/asset/definition.json b/150case/cases/drawer_ep000040/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a6a786338836c9c511e2d4316044cf0b7b8631a
--- /dev/null
+++ b/150case/cases/drawer_ep000040/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.16140674968133784,
+          -1.0182146223767006,
+          1.0471117354820683
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5936234709641364
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          0.16140674968133784,
+          -0.9882146223767007,
+          0.9886234709641362
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.18
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.16140674968133784,
+          -0.8632146223767007,
+          0.9539234709641362
+        ],
+        "size_m": [
+          0.13,
+          0.026,
+          0.026
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.10640674968133784,
+          -0.8752146223767007,
+          0.9539234709641362
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.21640674968133783,
+          -0.8752146223767007,
+          0.9539234709641362
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.16140674968133784,
+          -0.8712146223767007,
+          1.1186234709641363
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.16140674968133784,
+          -0.8502146223767006,
+          1.1186234709641363
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.16140674968133784,
+          -0.8712146223767007,
+          1.2486234709641362
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.16140674968133784,
+          -0.8502146223767006,
+          1.2486234709641362
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          -0.19688876536458533,
+          -0.7271688648905298,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -0.9262188530562709,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "left",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "right",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000040/asset/manifest.json b/150case/cases/drawer_ep000040/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7ab9f0ec24b861c558d97693153593ff5e4c50b
--- /dev/null
+++ b/150case/cases/drawer_ep000040/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "892287c36a83723d5eb3111d6f078dea78fbf4562b58d566a8b8a3bb77c098a4"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "left",
+    "block_hand": "right",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.3218031456866134,
+    "cycles": {
+      "left": 2,
+      "right": 1
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000040/inputs/case.json b/150case/cases/drawer_ep000040/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..dad5f6647c9bf669cff17a1307f92f7ed0610f3a
--- /dev/null
+++ b/150case/cases/drawer_ep000040/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 40,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000040.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000040.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000040.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000040.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 40,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "245d00f02d043f6b5c13a4f5d872be4c4ecf3fca8160a91d7e5c3b442cf8e4c7",
+  "source_rows": 513,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "249f342585b7930c463b50cad1aab337328cfa032361a5ce7c13b2dd279a335f"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000040/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000040/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000040/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
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+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
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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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+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
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+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LR_Link" />
+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
+          <inertial pos="-0.23187 0.033333 0" quat="0.0851505 0.715372 -0.0840248 0.688427" mass="5.6183" diaginertia="0.0175257 0.0129591 0.00795872" />
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+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_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_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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+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000040/source_config.json b/150case/cases/drawer_ep000040/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..c64868b57a13edebcdd88368a70fd0e7fa9a72b2
--- /dev/null
+++ b/150case/cases/drawer_ep000040/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000040",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000040",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000040/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000040/candidate_001/asset",
+  "engineered_task_asset_sha256": "0267ea29b67162702632864c7019d2bbe8e49ab1c1164ba3d550b77813c805ea",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000040/inputs/source_eef_ik/e9c663420eaa5de8749c/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000040/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000040/source_eef_receipt.json b/150case/cases/drawer_ep000040/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2fe8ae746f1ad61461f1c410c40d07e9fe4dcd1
--- /dev/null
+++ b/150case/cases/drawer_ep000040/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "245d00f02d043f6b5c13a4f5d872be4c4ecf3fca8160a91d7e5c3b442cf8e4c7",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9453905994268182e-05,
+      "orientation_error_max_rad": 0.00014399916219330204,
+      "position_error_p95_m": 1.1173294751813646e-05,
+      "max_joint_step_rad": 0.7065640316875148
+    },
+    "right": {
+      "position_error_max_m": 1.90437002513006e-05,
+      "orientation_error_max_rad": 0.00016054395310134047,
+      "position_error_p95_m": 7.30130939340173e-06,
+      "max_joint_step_rad": 0.07930062058138376
+    }
+  },
+  "wall_s": 0.3828636072576046,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000040/source_reference/scene.xml b/150case/cases/drawer_ep000040/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3023696d7efeebf481da4f98e3318316b08a8e93
--- /dev/null
+++ b/150case/cases/drawer_ep000040/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="0.161406749681 -1.01821462238 1.04711173548" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.290811735482" 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 0.296811735482" 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 0.296811735482" 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 0.296811735482" 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 0.290811735482" 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 -0.0584882645179" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.18" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.013 0.013" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0715117354821" 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 0.0715117354821" 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 0.201511735482" 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 0.201511735482" 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="-0.196888765365 -0.727168864891 0.7753" quat="0.894667743976 0 0 -0.44673216572">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000040/source_scene.json b/150case/cases/drawer_ep000040/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..d08e3d23a43c39646408fd341d47885d085c9f09
--- /dev/null
+++ b/150case/cases/drawer_ep000040/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.16140674968133784,
+        -1.0182146223767006,
+        1.0471117354820683
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5936234709641364
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        0.16140674968133784,
+        -0.9882146223767007,
+        0.9886234709641362
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.18
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.16140674968133784,
+        -0.8632146223767007,
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+      "size_m": [
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+        0.026
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
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+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.10640674968133784,
+        -0.8752146223767007,
+        0.9539234709641362
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+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.21640674968133783,
+        -0.8752146223767007,
+        0.9539234709641362
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.16140674968133784,
+        -0.8712146223767007,
+        1.1186234709641363
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.16140674968133784,
+        -0.8502146223767006,
+        1.1186234709641363
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.16140674968133784,
+        -0.8712146223767007,
+        1.2486234709641362
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.16140674968133784,
+        -0.8502146223767006,
+        1.2486234709641362
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        -0.19688876536458533,
+        -0.7271688648905298,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -0.9262188530562709,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000042/asset/definition.json b/150case/cases/drawer_ep000042/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..09192886fb4bb29dd09b5e4c6c49e246a4b47a4b
--- /dev/null
+++ b/150case/cases/drawer_ep000042/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17764331828035806,
+          -1.0113724258011096,
+          1.0405965098057086
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5805930196114171
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          0.17764331828035806,
+          -0.9813724258011098,
+          0.975593019611417
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.2
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17764331828035806,
+          -0.8563724258011098,
+          0.940893019611417
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.12264331828035807,
+          -0.8683724258011098,
+          0.940893019611417
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.23264331828035806,
+          -0.8683724258011098,
+          0.940893019611417
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17764331828035806,
+          -0.8643724258011098,
+          1.105593019611417
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17764331828035806,
+          -0.8433724258011098,
+          1.105593019611417
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17764331828035806,
+          -0.8643724258011098,
+          1.2355930196114169
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.17764331828035806,
+          -0.8433724258011098,
+          1.2355930196114169
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          -0.20108629962435678,
+          -0.7258138270749152,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.0780752970474115,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "left",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "right",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000042/asset/manifest.json b/150case/cases/drawer_ep000042/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..47c56b776e2fa41ece6c2cf6fc53875117fc0703
--- /dev/null
+++ b/150case/cases/drawer_ep000042/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "69bf40273c90842ff8ee02cc1cdca16a58df07a83f818b31e382aff5fbd2592b"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "left",
+    "block_hand": "right",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.28602054212772543,
+    "cycles": {
+      "left": 3,
+      "right": 1
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000042/inputs/case.json b/150case/cases/drawer_ep000042/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..900733f1ee183327d54c0125bd5dafbeca88ff68
--- /dev/null
+++ b/150case/cases/drawer_ep000042/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 42,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000042.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000042.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000042.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000042.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 42,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "7fb903a0d80feda113af858eba2dda20250073a7648371ce0e4932acb674e8e6",
+  "source_rows": 572,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "465a35436bbd50beb82454d6a6026cb52188759511fbd6e1b666179bf02501d7"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000042/source_config.json b/150case/cases/drawer_ep000042/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..accd312eac66f88b2915931726c037f0730cfe60
--- /dev/null
+++ b/150case/cases/drawer_ep000042/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000042",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000042",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000042/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000042/candidate_006/asset",
+  "engineered_task_asset_sha256": "c71971d3f19ff1d17f253edb5cf55b15fcbfe93883414c3ea8487fcc71983664",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000042/inputs/source_eef_ik/787fea4837c4a2c8c55a/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_precision_refit_20260920/drawer/episode_000042/candidate_01/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000042/source_eef_receipt.json b/150case/cases/drawer_ep000042/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..e429a1362a44fde38f561aa204d3aaa76924675d
--- /dev/null
+++ b/150case/cases/drawer_ep000042/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "7fb903a0d80feda113af858eba2dda20250073a7648371ce0e4932acb674e8e6",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
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+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
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+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
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+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.850665140609841e-05,
+      "orientation_error_max_rad": 0.00015109210183458994,
+      "position_error_p95_m": 1.1565271303315998e-05,
+      "max_joint_step_rad": 0.06526217121322254
+    },
+    "right": {
+      "position_error_max_m": 1.9721350052278417e-05,
+      "orientation_error_max_rad": 0.00015700317096627048,
+      "position_error_p95_m": 3.6177042511216737e-06,
+      "max_joint_step_rad": 0.0919506482938166
+    }
+  },
+  "wall_s": 0.4225845676846802,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000042/source_reference/scene.xml b/150case/cases/drawer_ep000042/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8ab0a0c08a3ee20496a2f4ea9d3356e534122551
--- /dev/null
+++ b/150case/cases/drawer_ep000042/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="0.17764331828 -1.0113724258 1.04059650981" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.284296509806" 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 0.290296509806" 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 0.290296509806" 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 0.290296509806" 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 0.284296509806" 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 -0.0650034901943" 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 0.0649965098057" 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 0.0649965098057" 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 0.194996509806" 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 0.194996509806" 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="-0.201086299624 -0.725813827075 0.7753" quat="0.858203063647 0 0 -0.513310336489">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000042/source_scene.json b/150case/cases/drawer_ep000042/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b12a03c969cc34c45264fa62ee60b133b1464d7
--- /dev/null
+++ b/150case/cases/drawer_ep000042/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17764331828035806,
+        -1.0113724258011096,
+        1.0405965098057086
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5805930196114171
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        0.17764331828035806,
+        -0.9813724258011098,
+        0.975593019611417
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.2
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17764331828035806,
+        -0.8563724258011098,
+        0.940893019611417
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.12264331828035807,
+        -0.8683724258011098,
+        0.940893019611417
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.23264331828035806,
+        -0.8683724258011098,
+        0.940893019611417
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17764331828035806,
+        -0.8643724258011098,
+        1.105593019611417
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17764331828035806,
+        -0.8433724258011098,
+        1.105593019611417
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17764331828035806,
+        -0.8643724258011098,
+        1.2355930196114169
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.17764331828035806,
+        -0.8433724258011098,
+        1.2355930196114169
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        -0.20108629962435678,
+        -0.7258138270749152,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.0780752970474115,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000045/asset/definition.json b/150case/cases/drawer_ep000045/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..5982441bc09da5166363ec6df03a796ea0f658fc
--- /dev/null
+++ b/150case/cases/drawer_ep000045/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15405082104063095,
+          -1.0043104884814056,
+          1.0428000673502331
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5850001347004665
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          0.15405082104063095,
+          -0.9743104884814057,
+          0.9800001347004662
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.18
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15405082104063095,
+          -0.8493104884814057,
+          0.9453001347004663
+        ],
+        "size_m": [
+          0.13,
+          0.026,
+          0.026
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.09905082104063095,
+          -0.8613104884814057,
+          0.9453001347004663
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.20905082104063094,
+          -0.8613104884814057,
+          0.9453001347004663
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15405082104063095,
+          -0.8573104884814057,
+          1.1100001347004662
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15405082104063095,
+          -0.8363104884814057,
+          1.1100001347004662
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15405082104063095,
+          -0.8573104884814057,
+          1.240000134700466
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15405082104063095,
+          -0.8363104884814057,
+          1.240000134700466
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          -0.2575929501694839,
+          -0.7704073741982134,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -0.9567642232478231,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "left",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "right",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000045/asset/manifest.json b/150case/cases/drawer_ep000045/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8ca9d9142295023b743d0894f587bfc3ccf32c5
--- /dev/null
+++ b/150case/cases/drawer_ep000045/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "356fa536dc32bd3e5fa839a2e0e9e5696403299390db58f9aec0c0d3d350fdff"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "left",
+    "block_hand": "right",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.3327647048055986,
+    "cycles": {
+      "left": 2,
+      "right": 1
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000045/inputs/case.json b/150case/cases/drawer_ep000045/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffb93991577e61277df160dee8e0d03b79416871
--- /dev/null
+++ b/150case/cases/drawer_ep000045/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 45,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000045.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000045.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000045.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000045.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 45,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "8000b497a1cdbea35aa338b24ab94bd3c9755cb746afdd02c72ae517855daa07",
+  "source_rows": 591,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "ca75f8c585c31bc5d8b14782a2f15f751140fd386962e95c66d1363c8106cfde"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000045/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000045/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000045/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
+        <inertial pos="-2.7619e-07 1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
+      </body>
+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
+        <inertial pos="0.0019998 -0.0070713 0.014539" quat="0.653281 0.270598 -0.653281 0.270598" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LR_Link" />
+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
+          <inertial pos="-0.23187 0.033333 0" quat="0.0851505 0.715372 -0.0840248 0.688427" mass="5.6183" diaginertia="0.0175257 0.0129591 0.00795872" />
+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
+          <body name="astribot_torso_link_3" pos="-0.39 0 0" gravcomp="0" quat="0.98962549373999498 0 0 0.14367109013253554">
+            <inertial pos="0.133333 -0.086872 0" quat="0.00834705 0.708024 0.00970003 0.706073" mass="0.49013" diaginertia="0.000380401 0.000365211 0.000222118" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_3" />
+            <body name="astribot_torso_link_4" pos="0 0 0" quat="0.49969040546151655 0.50030740665236773 -0.49969440546076005 -0.50030740419236785" gravcomp="0">
+              <inertial pos="0.00476227 -4.56967e-05 0.242913" quat="0.999954 7.7949e-05 0.00906445 -0.00297427" mass="11.7741" diaginertia="0.0165787 0.0149043 0.0110611" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_base_link" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000045/source_config.json b/150case/cases/drawer_ep000045/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..02e11671f274ec044d90eab2fd46af369cf8f296
--- /dev/null
+++ b/150case/cases/drawer_ep000045/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000045",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000045",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000045/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000045/candidate_001/asset",
+  "engineered_task_asset_sha256": "42205bb930d0be643f59ba0b87adfeb8e6a1e10eaced611aab4c686a9eba591d",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000045/inputs/source_eef_ik/e059b654533f7a6d25f8/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000045/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000045/source_eef_receipt.json b/150case/cases/drawer_ep000045/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..973a1abb895ca2b1b3c456dbc84735f5126deacf
--- /dev/null
+++ b/150case/cases/drawer_ep000045/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "8000b497a1cdbea35aa338b24ab94bd3c9755cb746afdd02c72ae517855daa07",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.989089913327295e-05,
+      "orientation_error_max_rad": 9.075651838877607e-05,
+      "position_error_p95_m": 1.1529325409823229e-05,
+      "max_joint_step_rad": 0.09517319390218049
+    },
+    "right": {
+      "position_error_max_m": 1.7848086108218865e-05,
+      "orientation_error_max_rad": 0.0001366813029024082,
+      "position_error_p95_m": 9.586173762993195e-06,
+      "max_joint_step_rad": 0.08649386949691484
+    }
+  },
+  "wall_s": 0.43884671991690993,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000045/source_reference/scene.xml b/150case/cases/drawer_ep000045/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..eafce76a3cd2bc56d0df141732b8769babb6088b
--- /dev/null
+++ b/150case/cases/drawer_ep000045/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="0.154050821041 -1.00431048848 1.04280006735" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.28650006735" 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 0.29250006735" 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 0.29250006735" 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 0.29250006735" 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 0.28650006735" 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 -0.0627999326498" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.18" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.013 0.013" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0672000673502" 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 0.0672000673502" 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 0.19720006735" 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 0.19720006735" 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="-0.257592950169 -0.770407374198 0.7753" quat="0.887740868732 0 0 -0.460343513024">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000045/source_scene.json b/150case/cases/drawer_ep000045/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..04e79a2b9ceaf22a6c247556406f81adbadab9af
--- /dev/null
+++ b/150case/cases/drawer_ep000045/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.15405082104063095,
+        -1.0043104884814056,
+        1.0428000673502331
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5850001347004665
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        0.15405082104063095,
+        -0.9743104884814057,
+        0.9800001347004662
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.18
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.15405082104063095,
+        -0.8493104884814057,
+        0.9453001347004663
+      ],
+      "size_m": [
+        0.13,
+        0.026,
+        0.026
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.09905082104063095,
+        -0.8613104884814057,
+        0.9453001347004663
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.20905082104063094,
+        -0.8613104884814057,
+        0.9453001347004663
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.15405082104063095,
+        -0.8573104884814057,
+        1.1100001347004662
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.15405082104063095,
+        -0.8363104884814057,
+        1.1100001347004662
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.15405082104063095,
+        -0.8573104884814057,
+        1.240000134700466
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.15405082104063095,
+        -0.8363104884814057,
+        1.240000134700466
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        -0.2575929501694839,
+        -0.7704073741982134,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -0.9567642232478231,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000046/asset/definition.json b/150case/cases/drawer_ep000046/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2c2ab1b3abd657eda8f846eb1ba90f866a59997
--- /dev/null
+++ b/150case/cases/drawer_ep000046/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.1630441854143162,
+          -1.0183310409328619,
+          1.0471965982256721
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5937931964513445
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          0.1630441854143162,
+          -0.988331040932862,
+          0.988793196451344
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.2
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.1630441854143162,
+          -0.863331040932862,
+          0.954093196451344
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.10804418541431621,
+          -0.875331040932862,
+          0.954093196451344
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.2180441854143162,
+          -0.875331040932862,
+          0.954093196451344
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.1630441854143162,
+          -0.871331040932862,
+          1.118793196451344
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.1630441854143162,
+          -0.8503310409328619,
+          1.118793196451344
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.1630441854143162,
+          -0.871331040932862,
+          1.248793196451344
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.1630441854143162,
+          -0.8503310409328619,
+          1.248793196451344
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          -0.2867196057735612,
+          -0.8124365243733074,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.0407921272365868,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "left",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "right",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000046/asset/manifest.json b/150case/cases/drawer_ep000046/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec014a889c9f5b97c2856c60207f722d62e33b66
--- /dev/null
+++ b/150case/cases/drawer_ep000046/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "9ea5b8c6961be770e9006ebf2531f4605eb1da98893721bad5320f7108785707"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "left",
+    "block_hand": "right",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.31099283803988,
+    "cycles": {
+      "left": 2,
+      "right": 1
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000046/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000046/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000046/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
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+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000046/source_config.json b/150case/cases/drawer_ep000046/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4b08332f08db8de97448140b838b15284d03996
--- /dev/null
+++ b/150case/cases/drawer_ep000046/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000046",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000046",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000046/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000046/candidate_006/asset",
+  "engineered_task_asset_sha256": "f77533b576b617d40768040a6490f0202b1bdfb71c2791b882cbfc86961e072a",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000046/inputs/source_eef_ik/ee366d5493cfe78c0073/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000046/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000046/source_eef_receipt.json b/150case/cases/drawer_ep000046/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..cee797e2ea61f07f81897991b1aff54b0723eec2
--- /dev/null
+++ b/150case/cases/drawer_ep000046/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "22889fca6b64859c88933f10e7684b0b4fa81c066ef9461a4b3cabb988f01fe2",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9791677645214306e-05,
+      "orientation_error_max_rad": 0.00013052591079689856,
+      "position_error_p95_m": 1.2367013150525225e-05,
+      "max_joint_step_rad": 0.11922671080457786
+    },
+    "right": {
+      "position_error_max_m": 1.8051805132212362e-05,
+      "orientation_error_max_rad": 7.707769067605008e-05,
+      "position_error_p95_m": 1.5395673357091485e-06,
+      "max_joint_step_rad": 0.08564207586033046
+    }
+  },
+  "wall_s": 0.3536574309691787,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000046/source_reference/scene.xml b/150case/cases/drawer_ep000046/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..795edbc2a215a407a0aae09b02ea738ae41bcc76
--- /dev/null
+++ b/150case/cases/drawer_ep000046/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="0.163044185414 -1.01833104093 1.04719659823" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.290896598226" 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 0.296896598226" 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 0.296896598226" 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 0.296896598226" 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 0.290896598226" 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 -0.0584034017743" 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 0.0715965982257" 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 0.0715965982257" 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 0.201596598226" 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 0.201596598226" 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="-0.286719605774 -0.812436524373 0.7753" quat="0.867622315472 0 0 -0.497223810467">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000046/source_scene.json b/150case/cases/drawer_ep000046/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2db2514973f867724cbe49391d34f5a233bcb8a
--- /dev/null
+++ b/150case/cases/drawer_ep000046/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.1630441854143162,
+        -1.0183310409328619,
+        1.0471965982256721
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5937931964513445
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        0.1630441854143162,
+        -0.988331040932862,
+        0.988793196451344
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.2
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.1630441854143162,
+        -0.863331040932862,
+        0.954093196451344
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.10804418541431621,
+        -0.875331040932862,
+        0.954093196451344
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.2180441854143162,
+        -0.875331040932862,
+        0.954093196451344
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.1630441854143162,
+        -0.871331040932862,
+        1.118793196451344
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.1630441854143162,
+        -0.8503310409328619,
+        1.118793196451344
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.1630441854143162,
+        -0.871331040932862,
+        1.248793196451344
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.1630441854143162,
+        -0.8503310409328619,
+        1.248793196451344
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        -0.2867196057735612,
+        -0.8124365243733074,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.0407921272365868,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/drawer_ep000047/asset/definition.json b/150case/cases/drawer_ep000047/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0c03c6e311b8606564f0ea9b442024066b4e857
--- /dev/null
+++ b/150case/cases/drawer_ep000047/asset/definition.json
@@ -0,0 +1,413 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm6",
+    "objects": [
+      {
+        "id": "drawer_cabinet",
+        "shape": "cabinet",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15700560363794758,
+          -1.0122085679451591,
+          1.03855879308411
+        ],
+        "size_m": [
+          0.55,
+          0.28,
+          0.5765175861682199
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.58,
+          0.6,
+          0.57,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.72,
+          0.36
+        ],
+        "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+        "wall_m": 0.012,
+        "mass_kg": 1.0
+      },
+      {
+        "id": "bottom_drawer",
+        "shape": "open_box",
+        "role": "container",
+        "color": "gray",
+        "position_m": [
+          0.15700560363794758,
+          -0.9822085679451591,
+          0.97151758616822
+        ],
+        "size_m": [
+          0.49,
+          0.22,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.55,
+          0.57,
+          0.54,
+          1.0
+        ],
+        "mobility": "slide",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.38
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "wall_m": 0.01,
+        "joint": {
+          "name": "bottom_drawer_slide",
+          "type": "slide",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "anchor_in_object_m": [
+            0,
+            0,
+            0
+          ],
+          "range": [
+            0,
+            0.18
+          ]
+        },
+        "mass_kg": 0.12
+      },
+      {
+        "id": "bottom_handle_bar",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15700560363794758,
+          -0.8572085679451591,
+          0.9368175861682201
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.38,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_a",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.10200560363794758,
+          -0.8692085679451591,
+          0.9368175861682201
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.34,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "bottom_handle_post_b",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.21200560363794757,
+          -0.8692085679451591,
+          0.9368175861682201
+        ],
+        "size_m": [
+          0.018,
+          0.025,
+          0.025
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "bottom_drawer",
+        "support_id": "bottom_drawer",
+        "head_center": [
+          0.42,
+          0.385
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15700560363794758,
+          -0.8652085679451591,
+          1.1015175861682203
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.285
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "middle_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15700560363794758,
+          -0.8442085679451591,
+          1.1015175861682203
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.27
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_drawer_front",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15700560363794758,
+          -0.8652085679451591,
+          1.2315175861682202
+        ],
+        "size_m": [
+          0.49,
+          0.018,
+          0.12
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.56,
+          0.58,
+          0.55,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.13
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "top_handle",
+        "shape": "box",
+        "role": "fixture",
+        "color": "gray",
+        "position_m": [
+          0.15700560363794758,
+          -0.8442085679451591,
+          1.2315175861682202
+        ],
+        "size_m": [
+          0.13,
+          0.018,
+          0.018
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.68,
+          0.7,
+          0.67,
+          1.0
+        ],
+        "mobility": "static",
+        "parent_id": "drawer_cabinet",
+        "support_id": "drawer_cabinet",
+        "head_center": [
+          0.38,
+          0.09
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "red_block",
+        "shape": "box",
+        "role": "object",
+        "color": "red",
+        "position_m": [
+          -0.33945921052027356,
+          -0.7296789338994666,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.9626642847191695,
+        "rgba": [
+          0.72,
+          0.06,
+          0.08,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.077,
+          0.53
+        ],
+        "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+        "mass_kg": 0.04
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "red_block"
+      ],
+      "containers": [
+        "bottom_drawer"
+      ],
+      "excluded": [],
+      "particles": [],
+      "target_region": null,
+      "articulation": "bottom_drawer_slide"
+    }
+  },
+  "anchors": [
+    {
+      "object": "drawer_cabinet",
+      "hand": "left",
+      "mode": "handle",
+      "handle": "bottom_handle_bar"
+    },
+    {
+      "object": "red_block",
+      "hand": "right",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": "+y",
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [],
+  "engineering_changes": [
+    "Drawer opens toward +Y as recorded by source FK; cabinet open face and handle aligned.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Put_the_block_in_the_drawer.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000047/asset/manifest.json b/150case/cases/drawer_ep000047/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..c983e645a564b9bbca0cde25202a7f44258d4d46
--- /dev/null
+++ b/150case/cases/drawer_ep000047/asset/manifest.json
@@ -0,0 +1,19 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v63_action_inferred_roles",
+  "task_id": "dm6",
+  "files": {
+    "definition.json": "39fac0dd3739c58065b883a4a533eb7c10aeef6a209b6c62ea9df213c187cff3"
+  },
+  "status": "physical_candidate",
+  "roles": {
+    "handle_hand": "left",
+    "block_hand": "right",
+    "evidence": "earlier low-lift grasp versus later lifting grasp",
+    "lift_contrast_m": 0.31817186486413473,
+    "cycles": {
+      "left": 2,
+      "right": 1
+    }
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000047/inputs/case.json b/150case/cases/drawer_ep000047/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..f773ceb31946c84bbab789ec7cdb3aa7545544d8
--- /dev/null
+++ b/150case/cases/drawer_ep000047/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_drawer_ep000000",
+  "task_id": "dm6",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "source_episode": 47,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/data/chunk-000/episode_000047.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000047.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000047.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_drawer_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000047.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
+  "dataset_episode": 47,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "56e97d307e2911e5831bf728f2ba6bf8efd62bc203b7ed7c77333b87f8c2f816",
+  "source_rows": 501,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "7e2a24ae752252abc4dd716eca33d9ec3cc2796ca8862cb46152a3bf5c14cc85"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000047/inputs/sim2_robot_only_scene.xml b/150case/cases/drawer_ep000047/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/drawer_ep000047/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
+        <inertial pos="-2.7619e-07 1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
+      </body>
+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
+        <inertial pos="0.0019998 -0.0070713 0.014539" quat="0.653281 0.270598 -0.653281 0.270598" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LR_Link" />
+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
+          <inertial pos="-0.23187 0.033333 0" quat="0.0851505 0.715372 -0.0840248 0.688427" mass="5.6183" diaginertia="0.0175257 0.0129591 0.00795872" />
+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
+          <body name="astribot_torso_link_3" pos="-0.39 0 0" gravcomp="0" quat="0.98962549373999498 0 0 0.14367109013253554">
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+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_3" />
+            <body name="astribot_torso_link_4" pos="0 0 0" quat="0.49969040546151655 0.50030740665236773 -0.49969440546076005 -0.50030740419236785" gravcomp="0">
+              <inertial pos="0.00476227 -4.56967e-05 0.242913" quat="0.999954 7.7949e-05 0.00906445 -0.00297427" mass="11.7741" diaginertia="0.0165787 0.0149043 0.0110611" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_base_link" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
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+                <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="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000047/source_config.json b/150case/cases/drawer_ep000047/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3b8c178da77983b15aa9bbe371ce3d27be57813
--- /dev/null
+++ b/150case/cases/drawer_ep000047/source_config.json
@@ -0,0 +1,76 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "drawer_ep000047",
+  "task_family": "dm6",
+  "task": "Put_the_block_in_the_drawer.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000047",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000047/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_drawer_roles_fit_20260920/drawer/episode_000047/candidate_008/asset",
+  "engineered_task_asset_sha256": "71496f8e56371274900b8d81b7be04d82f41051adcb3902b9c4f8938bdf9fc4e",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000047/inputs/source_eef_ik/e8f98c2602382bc260b7/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      -0.05,
+      -0.04
+    ],
+    "right": [
+      0,
+      0,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_precision": {
+    "timestep_s": 0.00025,
+    "joint_limit_time_constant_s": 0.0006
+  },
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000047/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/drawer_ep000047/source_eef_receipt.json b/150case/cases/drawer_ep000047/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..95bddb7ddce7a2af2337a82a653e0450c4498d48
--- /dev/null
+++ b/150case/cases/drawer_ep000047/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "56e97d307e2911e5831bf728f2ba6bf8efd62bc203b7ed7c77333b87f8c2f816",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.35709275024330717
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
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+              -0.032787575259063215,
+              0.0,
+              -0.3929072497566929
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+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.978856392193534e-05,
+      "orientation_error_max_rad": 0.00011321553464740456,
+      "position_error_p95_m": 9.624166287261077e-06,
+      "max_joint_step_rad": 0.1477694409874739
+    },
+    "right": {
+      "position_error_max_m": 1.7936289519835273e-05,
+      "orientation_error_max_rad": 7.258790705732762e-05,
+      "position_error_p95_m": 1.689040223160684e-06,
+      "max_joint_step_rad": 0.10878850573237409
+    }
+  },
+  "wall_s": 0.3806620049290359,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000047/source_reference/scene.xml b/150case/cases/drawer_ep000047/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0b84fa73408493e47f25a5ca679a829c6a87576e
--- /dev/null
+++ b/150case/cases/drawer_ep000047/source_reference/scene.xml
@@ -0,0 +1,191 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3929072498 0.7447380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3570927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
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+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit="0.0006 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="drawer_cabinet" pos="0.157005603638 -1.01220856795 1.03855879308" quat="1 0 0 0">
+      <geom name="drawer_cabinet_bottom" type="box" size="0.275 0.14 0.006" pos="0 0 -0.282258793084" 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 0.288258793084" 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 0.288258793084" 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 0.288258793084" 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 0.282258793084" 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 -0.0670412069159" quat="1 0 0 0">
+        <joint name="bottom_drawer_slide" type="slide" axis="0 1 0" pos="0 0 0" limited="true" range="0 0.18" damping=".1" frictionloss=".1" solreflimit="0.0021 1.0" solimplimit="0.999 0.9999 0.001" />
+        <geom name="bottom_drawer_bottom" type="box" size="0.245 0.11 0.005" pos="0 0 -0.055" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xplus" type="box" size="0.005 0.11 0.06" pos="0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_xminus" type="box" size="0.005 0.11 0.06" pos="-0.24 0 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_back" type="box" size="0.235 0.005 0.06" pos="0 0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <geom name="bottom_drawer_front" type="box" size="0.235 0.005 0.06" pos="0 -0.105 0" mass="0.024" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.55 0.57 0.54 1" />
+        <body name="bottom_handle_bar" pos="0 0.125 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_bar_geom" type="box" size="0.065 0.009 0.009" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_a" pos="-0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_a_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+        <body name="bottom_handle_post_b" pos="0.055 0.113 -0.0347" quat="1 0 0 0">
+          <geom name="bottom_handle_post_b_geom" type="box" size="0.009 0.0125 0.0125" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.68 0.7 0.67 1" />
+        </body>
+      </body>
+      <body name="middle_drawer_front" pos="0 0.147 0.0629587930841" 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 0.0629587930841" 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 0.192958793084" 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 0.192958793084" 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="-0.33945921052 -0.729678933899 0.7753" quat="-0.55591571212 0 0 0.831238666701">
+      <freejoint name="red_block_free" />
+      <geom name="red_block_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.72 0.06 0.08 1" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/drawer_ep000047/source_scene.json b/150case/cases/drawer_ep000047/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6ebec7440244b977813a85d47989eb60d955057
--- /dev/null
+++ b/150case/cases/drawer_ep000047/source_scene.json
@@ -0,0 +1,358 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm6",
+  "objects": [
+    {
+      "id": "drawer_cabinet",
+      "shape": "cabinet",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.15700560363794758,
+        -1.0122085679451591,
+        1.03855879308411
+      ],
+      "size_m": [
+        0.55,
+        0.28,
+        0.5765175861682199
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.58,
+        0.6,
+        0.57,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.72,
+        0.36
+      ],
+      "evidence": "Real1 head first frame: three-drawer beige cabinet at image right; metric size/pose approximated.",
+      "wall_m": 0.012,
+      "mass_kg": 1.0
+    },
+    {
+      "id": "bottom_drawer",
+      "shape": "open_box",
+      "role": "container",
+      "color": "gray",
+      "position_m": [
+        0.15700560363794758,
+        -0.9822085679451591,
+        0.97151758616822
+      ],
+      "size_m": [
+        0.49,
+        0.22,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.55,
+        0.57,
+        0.54,
+        1.0
+      ],
+      "mobility": "slide",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.38
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "wall_m": 0.01,
+      "joint": {
+        "name": "bottom_drawer_slide",
+        "type": "slide",
+        "axis": [
+          0,
+          1,
+          0
+        ],
+        "anchor_in_object_m": [
+          0,
+          0,
+          0
+        ],
+        "range": [
+          0,
+          0.18
+        ]
+      },
+      "mass_kg": 0.12
+    },
+    {
+      "id": "bottom_handle_bar",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.15700560363794758,
+        -0.8572085679451591,
+        0.9368175861682201
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.38,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_a",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.10200560363794758,
+        -0.8692085679451591,
+        0.9368175861682201
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.34,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "bottom_handle_post_b",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.21200560363794757,
+        -0.8692085679451591,
+        0.9368175861682201
+      ],
+      "size_m": [
+        0.018,
+        0.025,
+        0.025
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "bottom_drawer",
+      "support_id": "bottom_drawer",
+      "head_center": [
+        0.42,
+        0.385
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.15700560363794758,
+        -0.8652085679451591,
+        1.1015175861682203
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.285
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "middle_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.15700560363794758,
+        -0.8442085679451591,
+        1.1015175861682203
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.27
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_drawer_front",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.15700560363794758,
+        -0.8652085679451591,
+        1.2315175861682202
+      ],
+      "size_m": [
+        0.49,
+        0.018,
+        0.12
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.56,
+        0.58,
+        0.55,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.13
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "top_handle",
+      "shape": "box",
+      "role": "fixture",
+      "color": "gray",
+      "position_m": [
+        0.15700560363794758,
+        -0.8442085679451591,
+        1.2315175861682202
+      ],
+      "size_m": [
+        0.13,
+        0.018,
+        0.018
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.68,
+        0.7,
+        0.67,
+        1.0
+      ],
+      "mobility": "static",
+      "parent_id": "drawer_cabinet",
+      "support_id": "drawer_cabinet",
+      "head_center": [
+        0.38,
+        0.09
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "red_block",
+      "shape": "box",
+      "role": "object",
+      "color": "red",
+      "position_m": [
+        -0.33945921052027356,
+        -0.7296789338994666,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.9626642847191695,
+      "rgba": [
+        0.72,
+        0.06,
+        0.08,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.077,
+        0.53
+      ],
+      "evidence": "Real1 episode 0 head first frame: a red cuboid lies left of a three-drawer cabinet; metric size/pose approximated.",
+      "mass_kg": 0.04
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "red_block"
+    ],
+    "containers": [
+      "bottom_drawer"
+    ],
+    "excluded": [],
+    "particles": [],
+    "target_region": null,
+    "articulation": "bottom_drawer_slide"
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000000/asset/definition.json b/150case/cases/stack_blocks_ep000000/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..37117275616edc4939bd7514b38f4ed54198dfdd
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000000/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.3804730215536827,
+          -0.8304072320070189,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.6621712149138719,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.19273807287902353,
+          -0.7978867490826267,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.255062276729093,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.0033489085111735213,
+          -0.6676189956966767,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000000/asset/manifest.json b/150case/cases/stack_blocks_ep000000/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..0db7ca47859fe932138a9b87b3091f17dd34c3b5
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000000/asset/manifest.json
@@ -0,0 +1,8 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_revalidated_v61",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "ccc7dd69ab17786492e7a72973a02f903437c904706a1664ec5d5d39e3f78ac5"
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000000/inputs/case.json b/150case/cases/stack_blocks_ep000000/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae5c175418fca693ce506123a065c4cd358a3e36
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000000/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 0,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000000.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000000.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 0,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "4a509a7e9a518ccafc653339c3b6d05a1c4af51bef7e5eedf9a451fe341b719d",
+  "source_rows": 938,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "b57ac239bad6bcc48bf5964f2a8ee7052a025fd23db287ed4683d9eb44a3fbcd"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000000/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000000/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000000/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
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+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000000/source_config.json b/150case/cases/stack_blocks_ep000000/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3809e0275e42aa2ffab6d230ab9830dc3d6758fe
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000000/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000000",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000000",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000000/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000000/asset",
+  "engineered_task_asset_sha256": "add5ad7c359555b05b32b52fbfdac6f6c527f6e69d577f2e8056198877fc0566",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_blocks/episode_000000/inputs/source_eef_ik/f9d80f29ff0b910a2462/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0,
+      0.025,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000000/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000000/source_eef_receipt.json b/150case/cases/stack_blocks_ep000000/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dd42bc63b5d6c1c86c4a22282fa3c99b1879755
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000000/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "4a509a7e9a518ccafc653339c3b6d05a1c4af51bef7e5eedf9a451fe341b719d",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
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+              0.0,
+              1.0,
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+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
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+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4179072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 7.146518928179757e-05,
+      "orientation_error_max_rad": 0.0008816395689048996,
+      "position_error_p95_m": 7.225762126859443e-06,
+      "max_joint_step_rad": 0.13337755781577387
+    },
+    "right": {
+      "position_error_max_m": 0.0003582134691153874,
+      "orientation_error_max_rad": 0.00395421966519423,
+      "position_error_p95_m": 0.00029613134257681727,
+      "max_joint_step_rad": 0.1257396566366824
+    }
+  },
+  "wall_s": 0.6969776870682836,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000000/source_reference/scene.xml b/150case/cases/stack_blocks_ep000000/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..623e4908b6d0fc1ddf89e0306ddb705b43f27fbb
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000000/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3320927502 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.380473021554 -0.830407232007 0.7753" quat="-0.674074258744 0 0 0.738663586282">
+      <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="-0.192738072879 -0.797886749083 0.7753" quat="0.80947956115 0 0 -0.587148056354">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="-0.00334890851117 -0.667618995697 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000000/source_scene.json b/150case/cases/stack_blocks_ep000000/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..193a471c0b95f54ee742b0f96fdd4b062054b220
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000000/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.3804730215536827,
+        -0.8304072320070189,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.6621712149138719,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.19273807287902353,
+        -0.7978867490826267,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.255062276729093,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.0033489085111735213,
+        -0.6676189956966767,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000001/asset/definition.json b/150case/cases/stack_blocks_ep000001/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..9850f78a5f5353cd3fd21d5f6b019b34531d7129
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000001/asset/definition.json
@@ -0,0 +1,190 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.2345039946388014,
+          -0.8328555875890956,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.7158601653204353,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04,
+        "roll_pitch_rad": [
+          -1.57,
+          0
+        ]
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.23463329362076776,
+          -0.810095300598948,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.3280385239673986,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04,
+        "roll_pitch_rad": [
+          -1.57,
+          0
+        ]
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.005365988116123037,
+          -0.654403446049895,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000001/asset/manifest.json b/150case/cases/stack_blocks_ep000001/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..51aeb51766aeb2dd6823835afce53e8333a0615e
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000001/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_block_orientation_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "68cedfd50a1e75879b4c45aa6e515a3a3f5f72ddf0dd2d187e76cc357bcf68da"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000001/inputs/case.json b/150case/cases/stack_blocks_ep000001/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..1149828d3db1597afa5f0f270c1699638b22b3c0
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000001/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 1,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000001.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000001.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000001.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000001.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 1,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "251ef4c9475c517ab76e7b677601d347d36cc578ca0050d66cd4e1650366c40a",
+  "source_rows": 672,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "59d4dc57483bc1f2bb6c341556506f8a8696f14edbc2be8a5477635c87c0fef5"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000001/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000001/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000001/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
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+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000001/source_config.json b/150case/cases/stack_blocks_ep000001/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..a44a8b92bca92f5fabc69e043a467f5beeee17db
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000001/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000001",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000001",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000001/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_block_orientation_repair_20260920/stack_blocks/episode_000001/candidate_00/asset",
+  "engineered_task_asset_sha256": "4a2d82fb931394587577d8414b0a332e03d80cea7bf8fe2880719f564b36ce5d",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_blocks/episode_000001/inputs/source_eef_ik/cb39b042b8c4b9c94a26/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0,
+      0.025,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_block_orientation_repair_20260920/stack_blocks/episode_000001/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000001/source_eef_receipt.json b/150case/cases/stack_blocks_ep000001/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb1387bdc275475738c343069f01b79a81c3f65d
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000001/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "251ef4c9475c517ab76e7b677601d347d36cc578ca0050d66cd4e1650366c40a",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4179072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.7706331262507106e-05,
+      "orientation_error_max_rad": 0.00015836062226459938,
+      "position_error_p95_m": 5.9770241841787665e-06,
+      "max_joint_step_rad": 0.07505976834373626
+    },
+    "right": {
+      "position_error_max_m": 0.00040290017740210986,
+      "orientation_error_max_rad": 0.004459750478979635,
+      "position_error_p95_m": 4.033767689585964e-05,
+      "max_joint_step_rad": 0.6542949761431214
+    }
+  },
+  "wall_s": 0.5148727241903543,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000001/source_reference/scene.xml b/150case/cases/stack_blocks_ep000001/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6a0fe06f9b9e37c541ec0cf9ec9af4787d63b451
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000001/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3320927502 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.234503994639 -0.832855587589 0.7753" quat="-0.462635281624 0.462267019362 -0.534706498422 0.535132469163">
+      <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="-0.234633293621 -0.810095300599 0.7753" quat="0.557083527362 -0.556640083362 0.435607224733 -0.435954248629">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="0.00536598811612 -0.65440344605 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000001/source_scene.json b/150case/cases/stack_blocks_ep000001/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5101e1cf5622b957d9ddf046a37da62c9746b86
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000001/source_scene.json
@@ -0,0 +1,125 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.2345039946388014,
+        -0.8328555875890956,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.7158601653204353,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04,
+      "roll_pitch_rad": [
+        -1.57,
+        0
+      ]
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.23463329362076776,
+        -0.810095300598948,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.3280385239673986,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04,
+      "roll_pitch_rad": [
+        -1.57,
+        0
+      ]
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        0.005365988116123037,
+        -0.654403446049895,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000003/asset/definition.json b/150case/cases/stack_blocks_ep000003/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..0523471b0f422cc42d42cc1191bd2820a6c1d4b0
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000003/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.15863143893860576,
+          -0.8267330356031659,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -3.012243604178541,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.38110496025287555,
+          -0.799488857179951,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.6131037177268432,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.013481822274446026,
+          -0.6806876790586274,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000003/asset/manifest.json b/150case/cases/stack_blocks_ep000003/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbec1a029d7ebb9ff6e35545e65d3565cb542d83
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000003/asset/manifest.json
@@ -0,0 +1,8 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_revalidated_v61",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "c3c354e409a5923b6b80ea8fc6e05797ae5d5a4568b31d22b620bdd170b5a9f3"
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000003/inputs/case.json b/150case/cases/stack_blocks_ep000003/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffb228fa99c5b484b4046b78ff2dd4e07a21cc32
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000003/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 3,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000003.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000003.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000003.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000003.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 3,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "039aee251a6e8709b9e326869ff16fa0dd5babfcf365f2979aa49973439bbe2d",
+  "source_rows": 825,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "af49bce9079b8f9e0353b66049264657c2296753fc8d93c1feb63175aa7d5869"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000003/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000003/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000003/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
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+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
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+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
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+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
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+                            <site name="force_torque_sensor_left" />
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+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
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+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
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+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
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+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
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+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
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+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
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+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000003/source_config.json b/150case/cases/stack_blocks_ep000003/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f8e742adce428dbcdfe31a2a23202c1040d2b77
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000003/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000003",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000003",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000003/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000003/asset",
+  "engineered_task_asset_sha256": "fd3e07af459cf23d0537ec13c85c33dd0d964ea30dbeaf7a2c09547befa6e146",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_blocks/episode_000003/inputs/source_eef_ik/cc395b7a80e3cb83c699/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0,
+      0.025,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000003/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000003/source_eef_receipt.json b/150case/cases/stack_blocks_ep000003/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce2e459b72b83c0ec6986c2bcc293eb8cb52c2d4
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000003/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "039aee251a6e8709b9e326869ff16fa0dd5babfcf365f2979aa49973439bbe2d",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4179072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9886092421231047e-05,
+      "orientation_error_max_rad": 0.00015811543112400145,
+      "position_error_p95_m": 1.1077040534315283e-05,
+      "max_joint_step_rad": 0.10859808241509644
+    },
+    "right": {
+      "position_error_max_m": 0.00035313212403306586,
+      "orientation_error_max_rad": 0.0022584248744510135,
+      "position_error_p95_m": 1.1476477675051914e-05,
+      "max_joint_step_rad": 0.9886668940282759
+    }
+  },
+  "wall_s": 0.6081268819980323,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000003/source_reference/scene.xml b/150case/cases/stack_blocks_ep000003/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b5eb34a01c844040d584df640d654292a8985793
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000003/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3320927502 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.158631438939 -0.826733035603 0.7753" quat="-0.0646294474302 0 0 0.997909331816">
+      <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="-0.381104960253 -0.79948885718 0.7753" quat="-0.691991773451 0 0 0.721905385405">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="0.0134818222744 -0.680687679059 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000003/source_scene.json b/150case/cases/stack_blocks_ep000003/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8b1903278c7bc2d005b8a6fb7fba8c1bd52b434
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000003/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.15863143893860576,
+        -0.8267330356031659,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -3.012243604178541,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.38110496025287555,
+        -0.799488857179951,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.6131037177268432,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        0.013481822274446026,
+        -0.6806876790586274,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000006/asset/definition.json b/150case/cases/stack_blocks_ep000006/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3d3517c6ebf399125e962513611fd86a3cbe54e
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000006/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.29794109767728894,
+          -0.7777934592242919,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.6649377186799068,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.17461842931696991,
+          -0.74679223004474,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.4756228397944828,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.007811638724904256,
+          -0.6642077637211533,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000006/asset/manifest.json b/150case/cases/stack_blocks_ep000006/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ba9c671cf30d9fcd442d03c5f999d38bb5fdfb4
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000006/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v61_instance",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "3c70a64ebf831524071cb0f4a8e99468bd0b3623e1c4f6c31e1e1185ca6bf0a9"
+  },
+  "status": "awaiting_physics",
+  "scope": "approximate action-compatible layout; not measured real geometry"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000006/inputs/case.json b/150case/cases/stack_blocks_ep000006/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..b38c8c69f56597789e34b594d040980b867967fb
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000006/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 6,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000006.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000006.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000006.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000006.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 6,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "1548835b9ff30b22fb058e7c35dee8a7797b425aecb593324a6a0cd17e485e71",
+  "source_rows": 809,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "9a23d90c06d0f2d39f59d1af7f727a628faed5e33cd73505f3ddd2b3808b3100"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000006/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000006/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000006/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
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+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000006/source_config.json b/150case/cases/stack_blocks_ep000006/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6c557b96672dec35442b1450ef6f1f5050c1ac7
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000006/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000006",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000006",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000006/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v61_20260920/stack_blocks/episode_000006/candidate_06/asset",
+  "engineered_task_asset_sha256": "8e32009671a7c928c56328e81f8eb469e13d1ee35388ce88267b4287c8d2764d",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_blocks/episode_000006/inputs/source_eef_ik/0eb45cfb53220fee77c2/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.012026378484467588,
+      0.026496056036214417,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v61_20260920/stack_blocks/episode_000006/candidate_06/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000006/source_eef_receipt.json b/150case/cases/stack_blocks_ep000006/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..da3d6508b4c67e4393305d2ea4f6010886386cd8
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000006/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "1548835b9ff30b22fb058e7c35dee8a7797b425aecb593324a6a0cd17e485e71",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4194033057929073
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.2961976035715324
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 0.00029246398457011085,
+      "orientation_error_max_rad": 0.0026147208200821303,
+      "position_error_p95_m": 7.762976147957853e-06,
+      "max_joint_step_rad": 2.91912825835911
+    },
+    "right": {
+      "position_error_max_m": 1.9934065467586545e-05,
+      "orientation_error_max_rad": 0.00012668061611032942,
+      "position_error_p95_m": 1.0577767647444404e-05,
+      "max_joint_step_rad": 0.782933467711478
+    }
+  },
+  "wall_s": 0.740235554985702,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000006/source_reference/scene.xml b/150case/cases/stack_blocks_ep000006/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e6535fe277ea9f0b0fc6ac71d94ef1c1030a43b6
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000006/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
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+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000006/source_scene.json b/150case/cases/stack_blocks_ep000006/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..177332a2d605273e2c1e2e40583bd7144f8de685
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000006/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.29794109767728894,
+        -0.7777934592242919,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.6649377186799068,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.17461842931696991,
+        -0.74679223004474,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.4756228397944828,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        0.007811638724904256,
+        -0.6642077637211533,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000013/asset/definition.json b/150case/cases/stack_blocks_ep000013/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc63ceb51eebf1a936d63aede8f80e82bf4b75d1
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000013/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.24431432646156506,
+          -0.7388211150279029,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.1051677106849502,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.1760961283809373,
+          -0.7765677832355161,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -0.6508102277204088,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.018248758988280274,
+          -0.6520305289474249,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000013/asset/manifest.json b/150case/cases/stack_blocks_ep000013/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d160b62d9b3143542d5ef81063fadf3480171aab
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000013/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v61_instance",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "bd60066170dfc49ff352e5e8ba00a62af89245893cc5e874f6c501e01dcd058f"
+  },
+  "status": "awaiting_physics",
+  "scope": "approximate action-compatible layout; not measured real geometry"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000013/inputs/case.json b/150case/cases/stack_blocks_ep000013/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..1981c4def937c9d149767b24dd6b6986c8e1defe
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000013/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 13,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000013.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000013.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000013.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000013.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 13,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "f178f58fc6a9cc63c0a0ba46baf379c609478f232c420acc6c5ccc899a273cb9",
+  "source_rows": 728,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "4d58f845b748f4206bb5d769c6394e0f09f0b8474d86242ccf34b078ab1bcfe1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000013/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000013/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000013/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
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+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000013/source_config.json b/150case/cases/stack_blocks_ep000013/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2cf1b371bc212da2841c1f16fc4dd3a4387ed76
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000013/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000013",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000013",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000013/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v61_20260920/stack_blocks/episode_000013/candidate_11/asset",
+  "engineered_task_asset_sha256": "ab490146d4e5eb9234baea7d3bc546e06753f3dc8fde740f7e6e94f91e5be02b",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_blocks/episode_000013/inputs/source_eef_ik/f8ccf25d514952a3adb1/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0.0,
+      0.0,
+      -0.052
+    ],
+    "right": [
+      0.029347375234634446,
+      0.030581693429664304,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v61_20260920/stack_blocks/episode_000013/candidate_11/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000013/source_eef_receipt.json b/150case/cases/stack_blocks_ep000013/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..1beb79d06706a0e122d68a19171a4f4681be7c74
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000013/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "f178f58fc6a9cc63c0a0ba46baf379c609478f232c420acc6c5ccc899a273cb9",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.017261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4234889431863572
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.27887660682136556
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 0.07075673448603241,
+      "orientation_error_max_rad": 1.320412241814491,
+      "position_error_p95_m": 1.2209119134575048e-05,
+      "max_joint_step_rad": 2.5391813415849525
+    },
+    "right": {
+      "position_error_max_m": 1.9890590176927383e-05,
+      "orientation_error_max_rad": 0.0001402497556251196,
+      "position_error_p95_m": 9.62909291531628e-06,
+      "max_joint_step_rad": 0.08924682591178046
+    }
+  },
+  "wall_s": 0.5794807518832386,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000013/source_reference/scene.xml b/150case/cases/stack_blocks_ep000013/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..50fcdb711aefb288637397031d3aa2c215c3b846
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000013/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7327380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.2788766068 -0.3265110568 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.244314326462 -0.738821115028 0.7753" quat="-0.495328093282 0 0 0.868705980183">
+      <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="-0.176096128381 -0.776567783236 0.7753" quat="0.947521292241 0 0 -0.319692666088">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="0.0182487589883 -0.652030528947 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000013/source_scene.json b/150case/cases/stack_blocks_ep000013/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..81f32c494580d0efdbf0ff6a6c52da64021b626c
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000013/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.24431432646156506,
+        -0.7388211150279029,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.1051677106849502,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.1760961283809373,
+        -0.7765677832355161,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -0.6508102277204088,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        0.018248758988280274,
+        -0.6520305289474249,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000014/asset/definition.json b/150case/cases/stack_blocks_ep000014/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..4be126686085d29ba830f935ac730247493cfedf
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000014/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.3141339826307064,
+          -0.8211393498085294,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.2612827932213784,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.25934882279447113,
+          -0.6907683576223973,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -0.5045885229590175,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.020333497423736593,
+          -0.6630010544436449,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000014/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000014/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000014/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
+        <inertial pos="-2.7619e-07 1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
+      </body>
+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
+        <inertial pos="0.0019998 -0.0070713 0.014539" quat="0.653281 0.270598 -0.653281 0.270598" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LR_Link" />
+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
+          <inertial pos="-0.23187 0.033333 0" quat="0.0851505 0.715372 -0.0840248 0.688427" mass="5.6183" diaginertia="0.0175257 0.0129591 0.00795872" />
+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
+          <body name="astribot_torso_link_3" pos="-0.39 0 0" gravcomp="0" quat="0.98962549373999498 0 0 0.14367109013253554">
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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" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_base_link" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
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+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000014/source_eef_receipt.json b/150case/cases/stack_blocks_ep000014/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dcacf79d98a562efb9416a718c22d5f6321bc33
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000014/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "3f77771b831c713a095b71a7a45fd225b21c04dec40e1e59b027db3faefb2756",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
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+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
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+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4179072497566929
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+            [
+              0.032787575259063215,
+              0.999462342916746,
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+              -0.308223982056
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+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 0.0006747669588214893,
+      "orientation_error_max_rad": 0.014912553063814948,
+      "position_error_p95_m": 1.2080038591748076e-05,
+      "max_joint_step_rad": 1.7985731885570364
+    },
+    "right": {
+      "position_error_max_m": 1.9984126294428448e-05,
+      "orientation_error_max_rad": 0.00016411827046006669,
+      "position_error_p95_m": 1.0486760202837198e-05,
+      "max_joint_step_rad": 0.18740742507970468
+    }
+  },
+  "wall_s": 0.5490277227945626,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000014/source_reference/scene.xml b/150case/cases/stack_blocks_ep000014/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..009e307205c45624e7f1f27ec905b0ddea069fd2
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000014/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3320927502 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.314133982631 -0.821139349809 0.7753" quat="-0.426079633295 0 0 0.904685661482">
+      <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="-0.259348822794 -0.690768357622 0.7753" quat="0.968342262835 0 0 -0.249626244629">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="0.0203334974237 -0.663001054444 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000017/asset/definition.json b/150case/cases/stack_blocks_ep000017/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..bad24b5319ffb4ef7438bdcf6bb3f6fc3567fcc8
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000017/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.14141140843902034,
+          -0.7657691445012841,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.533337292625087,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.3530322795379745,
+          -0.7520277106115922,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.183005112500703,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.00584738499072978,
+          -0.6666100754537183,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000018/asset/manifest.json b/150case/cases/stack_blocks_ep000018/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ecccb69b9f1ee97b8ef0fb51be1542100968da
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000018/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_episode_candidate",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "2be3766e201ebbbc8e63ebeb3ee376697fe87edf2ba017adb7d018f6b8465313"
+  },
+  "status": "physical_candidate",
+  "source_action_immutable": true
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000018/inputs/case.json b/150case/cases/stack_blocks_ep000018/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..49dea49582f5a6d514c4cd318e1d8fa7bc437c73
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000018/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 18,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000018.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000018.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000018.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000018.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 18,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "f8f80e8a264edb013066c0362c6ce53d09e2f2b53918e86ad96d681ef2a57bdc",
+  "source_rows": 661,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "522f167c8212b3a37db61fa785b8e9c885d9ebc48fa3c743c0751517a2c1b49e"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000018/source_config.json b/150case/cases/stack_blocks_ep000018/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..e64f4c63c8cf2d3a18b3849103d6aafa91028b0f
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000018/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
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+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
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+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000018",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000018",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000018/inputs",
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+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
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+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
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+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000018/source_scene.json b/150case/cases/stack_blocks_ep000018/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..b69d6d106fb06b8c362bda30a658bbf5d3a6ba0c
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000018/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.33119477923955243,
+        -0.8247233143156553,
+        0.7753
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+      "size_m": [
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+        0.05,
+        0.05
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+      "yaw_rad": -2.038594782078801,
+      "rgba": [
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+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.23774422355513536,
+        -0.7210735079475589,
+        0.7753
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+        0.05,
+        0.05
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+      "yaw_rad": -0.832746568186664,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        0.006750834039282755,
+        -0.6741475181435801,
+        0.7517999999999999
+      ],
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+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000019/asset/definition.json b/150case/cases/stack_blocks_ep000019/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cecd1aa68b6ec2f54e1d5df83f4f4b53d052467
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000019/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.3375611126760329,
+          -0.8281019053650738,
+          0.7753
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+        "size_m": [
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+        "yaw_rad": -2.1997215934474528,
+        "rgba": [
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+          0.38,
+          0.52,
+          1.0
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+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
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+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
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+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
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+        "rgba": [
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+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
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+      1.0
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+    "solimplimit": [
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+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000019/asset/manifest.json b/150case/cases/stack_blocks_ep000019/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5173d431596350fda40eb7043ed41e062c33fe1
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000019/asset/manifest.json
@@ -0,0 +1,8 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_revalidated_v61",
+  "task_id": "dm7",
+  "files": {
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+  }
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000019/inputs/case.json b/150case/cases/stack_blocks_ep000019/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b260160094dd58feec6b009ea92859906915283
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000019/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 19,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000019.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000019.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000019.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000019.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 19,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "512f8e37364ee3900446df2f6f1bee954e4206bbda6ed07a025b6c6fdc58f805",
+  "source_rows": 796,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "44a402c57810930c4bc815d9f2613fe1fb4ca60b3d0c10609a0d91f7723056c5"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000019/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000019/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000019/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
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+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
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+      <general forcerange="-265 265" />
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+      <general forcerange="-142 142" />
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+      <general forcerange="-20 20" />
+    </default>
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+    <default class="torso_size1">
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+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
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+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
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+    <material name="M_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" />
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+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000019/source_config.json b/150case/cases/stack_blocks_ep000019/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..82a2415e02281b995320e9826ef3fd48c10e1ca3
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000019/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000019",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000019",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000019/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000019/asset",
+  "engineered_task_asset_sha256": "5badc4fcc2a795b57c1ca39fb970d761dd7778fdbde1d9d6f4e8c4bedfced0b2",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_blocks/episode_000019/inputs/source_eef_ik/1f6d61a9de2ba903da84/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0.0,
+      0.0,
+      -0.052
+    ],
+    "right": [
+      0.009192071126519824,
+      0.027801844407394728,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000019/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000019/source_eef_receipt.json b/150case/cases/stack_blocks_ep000019/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..62be25d7b2fc1b253a8f5bd552e07b4309758d4a
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000019/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "512f8e37364ee3900446df2f6f1bee954e4206bbda6ed07a025b6c6fdc58f805",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.017261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
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+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.42070909416408764
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.29903191092948017
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9953769543214285e-05,
+      "orientation_error_max_rad": 0.0001303186914644853,
+      "position_error_p95_m": 7.3076708325038715e-06,
+      "max_joint_step_rad": 0.08519245399510256
+    },
+    "right": {
+      "position_error_max_m": 1.9974039822038715e-05,
+      "orientation_error_max_rad": 0.00016112994375059634,
+      "position_error_p95_m": 1.2272635661102386e-05,
+      "max_joint_step_rad": 0.17731568167610243
+    }
+  },
+  "wall_s": 0.5654345080256462,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000019/source_reference/scene.xml b/150case/cases/stack_blocks_ep000019/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e047230193bda0d2943379f49e8b8afe9f9eb16b
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000019/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7327380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.2990319109 -0.3292909058 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.337561112676 -0.828101905365 0.7753" quat="-0.453720176015 0 0 0.891144209361">
+      <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="-0.192983305623 -0.705938231766 0.7753" quat="0.890367801776 0 0 -0.455241889065">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="-0.00598723808222 -0.687919423427 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000019/source_scene.json b/150case/cases/stack_blocks_ep000019/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e34cc3af809ef4d524752f2655f48cdb4f5a541
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000019/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.3375611126760329,
+        -0.8281019053650738,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.1997215934474528,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.19298330562348873,
+        -0.7059382317661301,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -0.945287736922586,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.005987238082222231,
+        -0.6879194234267024,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000020/asset/definition.json b/150case/cases/stack_blocks_ep000020/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..96e5f376a75d4318e5e1ef86f3c54fac9f902f7d
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000020/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.13652156561585327,
+          -0.7015736937830005,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.231837053038216,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.2733269929681353,
+          -0.7119868675762355,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.4388009792157417,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.005064927267816863,
+          -0.6605888061029939,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000020/asset/manifest.json b/150case/cases/stack_blocks_ep000020/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..6789a093ffb02b2c416d1a68a0b8794372da2e91
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000020/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v61_instance",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "ea54ea6aed9a2f3ef1a8a5d785b82ce6f2deafbe207dae6a543414adb8e18f18"
+  },
+  "status": "awaiting_physics",
+  "scope": "approximate action-compatible layout; not measured real geometry"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000020/inputs/case.json b/150case/cases/stack_blocks_ep000020/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..edf95bda68bea0cd0bc88ef568a98face1e4f630
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000020/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 20,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000020.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000020.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000020.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000020.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 20,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "9050d27fe8b7186074b178fdada9722e24e65ebf149b39bbb000ebfa1a35edac",
+  "source_rows": 727,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "d6e66de75976b6348347f7eb28fa8a7eba2734280f3c150e6fb9eb4aa57d6aa3"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000020/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000020/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000020/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
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+    <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" />
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+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000020/source_config.json b/150case/cases/stack_blocks_ep000020/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..f49028939e6ac80185816cc8d1e6e622fd70fc15
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000020/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000020",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000020",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000020/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v61_20260920/stack_blocks/episode_000020/candidate_05/asset",
+  "engineered_task_asset_sha256": "344d69cbe64f2117751e6d26902e422abd578c52392228084eead52aa8f9b8e4",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_blocks/episode_000020/inputs/source_eef_ik/f721dca791b25f8d49a1/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.0068019968521164775,
+      0.026430809900781317,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v61_20260920/stack_blocks/episode_000020/candidate_05/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000020/source_eef_receipt.json b/150case/cases/stack_blocks_ep000020/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..45aeb0535c1c3cf211abe2788ae3023058e54dc0
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000020/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "9050d27fe8b7186074b178fdada9722e24e65ebf149b39bbb000ebfa1a35edac",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4193380596574742
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.3014219852038835
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 0.046995946897618525,
+      "orientation_error_max_rad": 1.1599747640657434,
+      "position_error_p95_m": 8.017108000425283e-06,
+      "max_joint_step_rad": 2.612645132151198
+    },
+    "right": {
+      "position_error_max_m": 5.883530549223987e-05,
+      "orientation_error_max_rad": 0.0007258045819320263,
+      "position_error_p95_m": 4.098696538192348e-05,
+      "max_joint_step_rad": 0.10562702301555904
+    }
+  },
+  "wall_s": 0.6220446368679404,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000020/source_reference/scene.xml b/150case/cases/stack_blocks_ep000020/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5106859dda3355037322f6b79faafda3a987cb06
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000020/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
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+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000020/source_scene.json b/150case/cases/stack_blocks_ep000020/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..66e5732c24c01fabf2abac63ca3a8aceb2e38078
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000020/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.13652156561585327,
+        -0.7015736937830005,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.231837053038216,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.2733269929681353,
+        -0.7119868675762355,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.4388009792157417,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        0.005064927267816863,
+        -0.6605888061029939,
+        0.7517999999999999
+      ],
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+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000021/asset/manifest.json b/150case/cases/stack_blocks_ep000021/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..f13f120f911f098eb90e2758c82b43ff192f365c
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000021/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v61_instance",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "0c9fb54fcc0b3b32ec700560836d8eef498b3f106b552cf2b4ae29cbbe840d91"
+  },
+  "status": "awaiting_physics",
+  "scope": "approximate action-compatible layout; not measured real geometry"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000021/inputs/case.json b/150case/cases/stack_blocks_ep000021/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..209e2e16a786d57a853967f43f50416ac6cf8a9a
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000021/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 21,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000021.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000021.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000021.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000021.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 21,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "b89b90184ba49c8d2b97536ff61ae1eb73d2b254b19407d591faad23ef4d8e1b",
+  "source_rows": 703,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "d2adb4058d18df9c08107d1887be02e888f659ad65276a9c054d623b46e2bdc4"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000021/source_config.json b/150case/cases/stack_blocks_ep000021/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e195d3c9212d25153612a87f6594837b227cc05
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000021/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000021",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000021",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000021/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v61_20260920/stack_blocks/episode_000021/candidate_09/asset",
+  "engineered_task_asset_sha256": "eb4862295682bccf19fb1994574a109f061b3a2bba36713f322ecd53bf818e5d",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_blocks/episode_000021/inputs/source_eef_ik/c4b8483b0d7f74771b67/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0.0,
+      0.0,
+      -0.068
+    ],
+    "right": [
+      0.0038580888841120886,
+      0.027067888782263162,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v61_20260920/stack_blocks/episode_000021/candidate_09/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000021/source_scene.json b/150case/cases/stack_blocks_ep000021/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..18ee7e2fdf7cd9948c52839847e378a4e44e6bfc
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000021/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.3305850309692009,
+        -0.8389025877939789,
+        0.7753
+      ],
+      "size_m": [
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+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.246377521583144,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.31272083458667665,
+        -0.7203730183519367,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -0.7110832201928952,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        0.009462314125168968,
+        -0.6578316521275508,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000022/asset/definition.json b/150case/cases/stack_blocks_ep000022/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..76785eda80df1b345a0b560a488e39e425cbf945
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000022/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.17808124003742093,
+          -0.6979458707497231,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.6888263119842297,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.24014817826477775,
+          -0.7599971284674272,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.466712080389945,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.017554736650063973,
+          -0.6634074389606436,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000022/asset/manifest.json b/150case/cases/stack_blocks_ep000022/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d21294dcb1dbd4caec5f2746fdff54efc79e70be
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000022/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v61_instance",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "6b2212d1ae406deef141fad6886ca767d88d0c8bc6dde9d728ebaaef88925771"
+  },
+  "status": "awaiting_physics",
+  "scope": "approximate action-compatible layout; not measured real geometry"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000022/inputs/case.json b/150case/cases/stack_blocks_ep000022/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b57419328ad2dc256909da73aea7e62fbe2009e
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000022/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 22,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000022.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000022.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000022.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000022.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 22,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "43244dba6a1a2e2e18a8ab15653639183d466495b952a035d4def77b2a35e5f9",
+  "source_rows": 647,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "1b2f6a16009667fb123bb0c01e2f3bb7d7934bcd34e38bb8a50c8a372c569784"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000022/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000022/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000022/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
+        <inertial pos="-2.7619e-07 1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
+      </body>
+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
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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" />
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+              <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">
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+                  <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">
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+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
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+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
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+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000022/source_config.json b/150case/cases/stack_blocks_ep000022/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..b07119bd2cab1cc0a27d6310db2f36f87b6d0764
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000022/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000022",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000022",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000022/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v61_20260920/stack_blocks/episode_000022/candidate_04/asset",
+  "engineered_task_asset_sha256": "244a56766dc10b06d8dd905d4b3db80460c3281a030137546e105dcfff2b5d2c",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_blocks/episode_000022/inputs/source_eef_ik/f6df87e8d49f46ea95b9/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.01976675392079931,
+      0.0246246936902361,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v61_20260920/stack_blocks/episode_000022/candidate_04/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000022/source_eef_receipt.json b/150case/cases/stack_blocks_ep000022/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bdca77dfad038340ebc5ff3068b4edd066241ef
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000022/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "43244dba6a1a2e2e18a8ab15653639183d466495b952a035d4def77b2a35e5f9",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.417531943446929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.2884572281352007
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 0.033368027066275736,
+      "orientation_error_max_rad": 0.4402661939654533,
+      "position_error_p95_m": 8.31006586536024e-06,
+      "max_joint_step_rad": 2.358187052292721
+    },
+    "right": {
+      "position_error_max_m": 0.03904997247832113,
+      "orientation_error_max_rad": 0.5977741269136391,
+      "position_error_p95_m": 1.0902744859945761e-05,
+      "max_joint_step_rad": 2.047888296035215
+    }
+  },
+  "wall_s": 0.5756771229207516,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000022/source_reference/scene.xml b/150case/cases/stack_blocks_ep000022/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..adecf6a4b487e1dfa248c322439a75cafe35ba4b
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000022/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.2884572281 -0.3324680566 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.178081240037 -0.69794587075 0.7753" quat="-0.22445445503 0 0 0.974484580492">
+      <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="-0.240148178265 -0.759997128467 0.7753" quat="0.742932168798 0 0 -0.669366710081">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="0.0175547366501 -0.663407438961 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000022/source_scene.json b/150case/cases/stack_blocks_ep000022/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..befef745763950f83c3e7e7ea447d67c3d10971b
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000022/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.17808124003742093,
+        -0.6979458707497231,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.6888263119842297,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.24014817826477775,
+        -0.7599971284674272,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.466712080389945,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        0.017554736650063973,
+        -0.6634074389606436,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000024/asset/definition.json b/150case/cases/stack_blocks_ep000024/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..d14b841ee1bab5606a95b4fa29fb26632f1bbf82
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000024/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.26707352126262623,
+          -0.8099570181737128,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.3447306949780766,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.16091338844357472,
+          -0.7223607136404248,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.251381694268616,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.0013965631143396315,
+          -0.6612540403941088,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000024/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000024/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000024/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
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+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000024/source_eef_receipt.json b/150case/cases/stack_blocks_ep000024/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1c02abe513a1007c9981b4cd8d1f920736f7b4b
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000024/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "408f7126ffd202b45757fb098779c06bb1bde228089205430ce229fe1392af7e",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.017261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4104181234824036
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.29852438283956095
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9991664565433258e-05,
+      "orientation_error_max_rad": 0.00012579222882843196,
+      "position_error_p95_m": 1.1222855713780032e-05,
+      "max_joint_step_rad": 0.10968370304862907
+    },
+    "right": {
+      "position_error_max_m": 0.00016913521107222271,
+      "orientation_error_max_rad": 0.005374712130387226,
+      "position_error_p95_m": 0.00015703950424113521,
+      "max_joint_step_rad": 1.5729770997349342
+    }
+  },
+  "wall_s": 0.6447552121244371,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000024/source_reference/scene.xml b/150case/cases/stack_blocks_ep000024/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bbc573ff0e5e695f4fe113a3f6b67f035fe8af91
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000024/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
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+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000025/asset/definition.json b/150case/cases/stack_blocks_ep000025/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..197b57e0eb87a48605be602b4a43ee898f7b6b3f
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000025/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.12481887830877403,
+          -0.822949214159236,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.528285062512628,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.15009089402151612,
+          -0.6852724691308455,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.0104751066516675,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.002975218543269948,
+          -0.6631573019904106,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000025/asset/manifest.json b/150case/cases/stack_blocks_ep000025/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b8d1ac73f8d0adf2dafdaece33e46b10c52417
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000025/asset/manifest.json
@@ -0,0 +1,8 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_revalidated_v61",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "09203fbb2dc67a19ae4a4c55ab3e74e3c0f1e37a08aa73a4ff3e5b892b985ab3"
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000025/inputs/case.json b/150case/cases/stack_blocks_ep000025/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..90e573f961f49f9704c0c17f48cf76598c8dd1a0
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000025/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 25,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000025.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000025.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000025.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000025.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 25,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "edb879d8be72b195b10bb4b5107a794660d56f30aa38ec534755195d2e9074ee",
+  "source_rows": 803,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "547c9ce72810a257155cb8de12a39507e30a48d8fe0e029e31d2911c4ce668e2"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000025/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000025/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000025/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
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+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
+        <inertial pos="-2.7619e-07 1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
+      </body>
+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
+        <inertial pos="0.0019998 -0.0070713 0.014539" quat="0.653281 0.270598 -0.653281 0.270598" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LR_Link" />
+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
+        <inertial pos="-0.078229 0.033333 0" quat="0.70346 0.70346 0.0717209 0.0717209" mass="9.2571" diaginertia="0.397539 0.374664 0.137718" />
+        <joint name="astribot_torso_joint_1" pos="0 0 0" axis="0 0 1" range="0.0 1.5" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_1" />
+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
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+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
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+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
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+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
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+                  <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">
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+                    <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">
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+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
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+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
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+                <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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+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
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+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
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+                      <joint name="astribot_arm_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" />
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+                        <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" />
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+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000025/source_config.json b/150case/cases/stack_blocks_ep000025/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..de742453aa5a00983ca2e96c6b523cca8091d56f
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000025/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000025",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000025",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000025/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000025/asset",
+  "engineered_task_asset_sha256": "3a88ea907f2da722e15c8531f9f92b06f566cf81a0185d449af3565f1b90622d",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_blocks/episode_000025/inputs/source_eef_ik/726ce9fe3588d1d80cf4/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0,
+      0.025,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000025/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000025/source_eef_receipt.json b/150case/cases/stack_blocks_ep000025/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eeace5bda23a8734502a9af3bee6cd00f6d54f4
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000025/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "edb879d8be72b195b10bb4b5107a794660d56f30aa38ec534755195d2e9074ee",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
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+          2.220446049250313e-16,
+          -0.0,
+          -0.75
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+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
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+            ],
+            [
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+            [
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+          "source_reference_from_grasp": [
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+              0.0,
+              0.0
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+            [
+              1.0,
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+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
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+              2.6794896468285145e-08,
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+            [
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+              0.0,
+              0.0,
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+          ]
+        },
+        "right": {
+          "task_from_source_base": [
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+              0.0,
+              0.0,
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+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
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+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9955996412063513e-05,
+      "orientation_error_max_rad": 0.0001487890042379979,
+      "position_error_p95_m": 6.96700563687987e-06,
+      "max_joint_step_rad": 0.20243972960118922
+    },
+    "right": {
+      "position_error_max_m": 0.0003358370118315511,
+      "orientation_error_max_rad": 0.0036905661045995093,
+      "position_error_p95_m": 0.00033461798152134494,
+      "max_joint_step_rad": 0.08027055689346962
+    }
+  },
+  "wall_s": 0.6243800199590623,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000025/source_reference/scene.xml b/150case/cases/stack_blocks_ep000025/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7a250d085ed3b0d30f9585845eed00f31e37071c
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000025/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3320927502 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.124818878309 -0.822949214159 0.7753" quat="-0.301870231668 0 0 0.953349024876">
+      <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="-0.150090894022 -0.685272469131 0.7753" quat="0.875059519667 0 0 -0.484015327278">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="-0.00297521854327 -0.66315730199 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000025/source_scene.json b/150case/cases/stack_blocks_ep000025/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..6afc1a4aa19a3c8c626513b2b403225f64006d4e
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000025/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.12481887830877403,
+        -0.822949214159236,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.528285062512628,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.15009089402151612,
+        -0.6852724691308455,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.0104751066516675,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.002975218543269948,
+        -0.6631573019904106,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000026/asset/definition.json b/150case/cases/stack_blocks_ep000026/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..e200ba215302f53f6e5b16b27580f2814198492d
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000026/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.27469946616073754,
+          -0.7602099486229891,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.0235861301852127,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.2993559991179008,
+          -0.7339953616347827,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.0584895260714926,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.005689209062684972,
+          -0.656552607318516,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000026/asset/manifest.json b/150case/cases/stack_blocks_ep000026/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae5a616c3586a49670c3298411544703278a3363
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000026/asset/manifest.json
@@ -0,0 +1,8 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_revalidated_v61",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "d69a4fa36de7b8c01120e3b5fb3a826200152d7ce39ece616afcd3d25114ce70"
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000026/inputs/case.json b/150case/cases/stack_blocks_ep000026/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..094f4ddb8ee6b87dda64132d45b48a6908cacccc
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000026/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 26,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000026.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000026.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000026.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000026.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 26,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "6d48e1c5561afa9d9a74494ee7cc6d3cbe93ed35578505d46dea392e54a170d5",
+  "source_rows": 652,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "40879f56017b8dd2ef50bc5cfc9160e5d69cbf7e8b748b7e0f1967ef5cfa83de"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000026/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000026/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000026/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
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+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
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+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
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+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
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+      <body 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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+      <body name="wheel_LR_Link" pos="-0.216347 0.211347 -0.015" quat="0.65328 -0.270597 -0.653283 -0.270598" gravcomp="0">
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+      </body>
+      <body name="astribot_torso_link_1" pos="0 0 0.12" quat="0.499998 -0.5 0.5 0.500002" gravcomp="0">
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+        <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" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_base_link" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000026/source_config.json b/150case/cases/stack_blocks_ep000026/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..5db787421f4581ae2a5e2838109396b470d71c72
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000026/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000026",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000026",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000026/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000026/asset",
+  "engineered_task_asset_sha256": "65d3e34df45aa5fe7c4ff535a4397e29c10304b89afd45f7fd4d7e3cbf6fb8c4",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_blocks/episode_000026/inputs/source_eef_ik/759427ea68ea054d21c0/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0,
+      0.025,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000026/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000026/source_eef_receipt.json b/150case/cases/stack_blocks_ep000026/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1cbf0f54165c1dbb43819c9c119062477a07408
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000026/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "6d48e1c5561afa9d9a74494ee7cc6d3cbe93ed35578505d46dea392e54a170d5",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
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+          2.220446049250313e-16,
+          -0.0,
+          -0.75
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+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
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+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
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+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
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+            [
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+          "source_reference_from_grasp": [
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+            [
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+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
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+            [
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+              0.9999999999999997,
+              2.6794896468285145e-08,
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+            [
+              0.0,
+              0.0,
+              0.0,
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+          ]
+        },
+        "right": {
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+              1.0,
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+              0.0,
+              0.0,
+              1.0
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+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9532852820246492e-05,
+      "orientation_error_max_rad": 0.00014585925270461136,
+      "position_error_p95_m": 5.001849926818006e-06,
+      "max_joint_step_rad": 0.06871082251704264
+    },
+    "right": {
+      "position_error_max_m": 0.0003342763085754081,
+      "orientation_error_max_rad": 0.003673410062546397,
+      "position_error_p95_m": 0.00019875339793815278,
+      "max_joint_step_rad": 0.7400302391028039
+    }
+  },
+  "wall_s": 0.5225408836267889,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000026/source_reference/scene.xml b/150case/cases/stack_blocks_ep000026/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8bd7c88c6a61a16eaa6d1df83f67fc70664f6f83
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000026/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3320927502 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.274699466161 -0.760209948623 0.7753" quat="-0.53034144258 0 0 0.847784143684">
+      <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="-0.299355999118 -0.733995361635 0.7753" quat="0.863188621879 0 0 -0.5048815733">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="0.00568920906268 -0.656552607319 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000026/source_scene.json b/150case/cases/stack_blocks_ep000026/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..a34a867c5910355ee69db4977c7d6d2d5421f2d0
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000026/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.27469946616073754,
+        -0.7602099486229891,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.0235861301852127,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.2993559991179008,
+        -0.7339953616347827,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.0584895260714926,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        0.005689209062684972,
+        -0.656552607318516,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000036/asset/definition.json b/150case/cases/stack_blocks_ep000036/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..9089b0899f2935381cb459b23b8d0a1b0f8280a7
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000036/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.34152664893135387,
+          -0.7339641431873746,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.6693565297191102,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.34547095035854825,
+          -0.7461681182228752,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.0460750851240779,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.003346187763161996,
+          -0.6682318371142563,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000036/inputs/case.json b/150case/cases/stack_blocks_ep000036/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..f431be0e74d46c17aff54d6d6ae094048be008cf
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000036/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 36,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000036.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000036.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000036.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000036.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 36,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "c92b88592052d42db3798e154f425b464f0437a2887e7490aa412b277d5174ea",
+  "source_rows": 837,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "87ddbe0568a6c621bcf54c1d6a29bb6266c286d913a944d06c12389b108d80a5"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000036/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000036/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000036/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
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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" />
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+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_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" />
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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" />
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+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000036/source_eef_receipt.json b/150case/cases/stack_blocks_ep000036/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0d24a83a181ec6bb56d75e5d6af63ec26e0a632
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000036/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "c92b88592052d42db3798e154f425b464f0437a2887e7490aa412b277d5174ea",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4179072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.835935564825943e-05,
+      "orientation_error_max_rad": 8.433740404220542e-05,
+      "position_error_p95_m": 7.324405276325212e-06,
+      "max_joint_step_rad": 0.10077955948533823
+    },
+    "right": {
+      "position_error_max_m": 0.00040690444187543493,
+      "orientation_error_max_rad": 0.004471531721881442,
+      "position_error_p95_m": 0.00037404738210855174,
+      "max_joint_step_rad": 0.08515067437877744
+    }
+  },
+  "wall_s": 0.632991983089596,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000036/source_reference/scene.xml b/150case/cases/stack_blocks_ep000036/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9bc79dbbd4b17b8abc08f5d73bcfff04be5f7e31
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000036/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3320927502 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.341526648931 -0.733964143187 0.7753" quat="-0.671416149055 0 0 0.741080531918">
+      <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="-0.345470950359 -0.746168118223 0.7753" quat="0.866305883896 0 0 -0.499513879213">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="0.00334618776316 -0.668231837114 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000036/source_scene.json b/150case/cases/stack_blocks_ep000036/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..01629f119e73ea8ea54e32c4cc15b870713fe184
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000036/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.34152664893135387,
+        -0.7339641431873746,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.6693565297191102,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.34547095035854825,
+        -0.7461681182228752,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.0460750851240779,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        0.003346187763161996,
+        -0.6682318371142563,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000039/asset/definition.json b/150case/cases/stack_blocks_ep000039/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..63f32b24b75798c17659eb7b50f9d5255cc49aa9
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000039/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.3271707895085702,
+          -0.7311185417520552,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.4142778654624735,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.2435014971913076,
+          -0.706890289721083,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.0817869603419459,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.010027766807163076,
+          -0.6647642137603372,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000039/asset/manifest.json b/150case/cases/stack_blocks_ep000039/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a3152b277630e06e7749e94d92516e5cd2ac531
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000039/asset/manifest.json
@@ -0,0 +1,8 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_revalidated_v61",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "a3707645a48a9c54313447ba69fb9a162372cfcc22ce2547f355c0c2477e2f0a"
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000039/inputs/case.json b/150case/cases/stack_blocks_ep000039/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3d7259f3d6423ae8ba3cd78bb2f6a105eb21b47
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000039/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 39,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000039.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000039.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000039.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000039.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 39,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "683d727a7183906b662e6bc5604cb3c24143ecc253a2774202cd51e7f1c9db2f",
+  "source_rows": 749,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "4407f2f9aebac4f8429472d59926feaefab78caa3eada8e61eadafa950431ccf"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000039/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000039/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000039/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
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+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000039/source_config.json b/150case/cases/stack_blocks_ep000039/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c3d0788a29c8d2c88412eca1bfdaca341cc380d
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000039/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000039",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000039",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000039/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000039/asset",
+  "engineered_task_asset_sha256": "c8a03bdacf8a95ced41e5d76b51bab5b0ea1909a38fddb04a87b3910fe1448a5",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_blocks/episode_000039/inputs/source_eef_ik/101a48c090a583302dcf/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0,
+      0.025,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000039/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000039/source_eef_receipt.json b/150case/cases/stack_blocks_ep000039/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..57448cc0f991a5df098818a4eccbf1f36e62de60
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000039/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "683d727a7183906b662e6bc5604cb3c24143ecc253a2774202cd51e7f1c9db2f",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
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+            [
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+              0.0,
+              1.0
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+          ],
+          "source_reference_from_grasp": [
+            [
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+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
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+              0.0
+            ],
+            [
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+              0.0,
+              1.0,
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+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
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+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
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+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
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+          ]
+        },
+        "right": {
+          "task_from_source_base": [
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+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4179072497566929
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+            [
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+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.995936092121327e-05,
+      "orientation_error_max_rad": 0.00014070425429921012,
+      "position_error_p95_m": 1.0042650074676672e-05,
+      "max_joint_step_rad": 0.07858680048180466
+    },
+    "right": {
+      "position_error_max_m": 0.0006640908979015773,
+      "orientation_error_max_rad": 0.011601534658424367,
+      "position_error_p95_m": 0.0003553706879146785,
+      "max_joint_step_rad": 0.8015735978680711
+    }
+  },
+  "wall_s": 0.6254197782836854,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000039/source_reference/scene.xml b/150case/cases/stack_blocks_ep000039/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7cd7e561dfd28224404e2023f15121da7998c087
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000039/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3320927502 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.327170789509 -0.731118541752 0.7753" quat="-0.35569481303 0 0 0.934602161341">
+      <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="-0.243501497191 -0.706890289721 0.7753" quat="0.857248968754 0 0 -0.514902132031">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="0.0100277668072 -0.66476421376 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000039/source_scene.json b/150case/cases/stack_blocks_ep000039/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..50e0e184162d22954e3e91a5a36336ae03555a41
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000039/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.3271707895085702,
+        -0.7311185417520552,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.4142778654624735,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.2435014971913076,
+        -0.706890289721083,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.0817869603419459,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        0.010027766807163076,
+        -0.6647642137603372,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000040/asset/definition.json b/150case/cases/stack_blocks_ep000040/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6f19fb273013850f62b7141673e3126d72eff7e
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000040/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.2997796794930921,
+          -0.8285764300649888,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.293422475611264,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.28929165840323057,
+          -0.7510530804541186,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.0214087769073121,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          0.006198714950441478,
+          -0.6676932416705136,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000040/asset/manifest.json b/150case/cases/stack_blocks_ep000040/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..134f590b1c9474e3deb64b97f3e5b64e383a99ba
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000040/asset/manifest.json
@@ -0,0 +1,8 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_revalidated_v61",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "0951ee99d0abdc89910c0b9a91627e657fa5cd9a5e51079f597bc05efc78422f"
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000040/inputs/case.json b/150case/cases/stack_blocks_ep000040/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc5d280aab9fa41654d24be6e0ec0b2ae18dc163
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000040/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 40,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000040.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000040.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000040.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000040.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 40,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "7f52fee0b976be0192d131bc44733e473f16f38f9572bc7edbcd30887ad09944",
+  "source_rows": 815,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "7ab00a339314501a8bd8c577a52c42cf5df5de025ec24ed8054ed6fec160a8c4"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000040/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000040/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000040/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
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+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000040/source_config.json b/150case/cases/stack_blocks_ep000040/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d4f4a4c2058468e7c1d7cb04e5e9a93cda1bb98
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000040/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000040",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000040",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000040/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000040/asset",
+  "engineered_task_asset_sha256": "b52d408da04521bf98a52e387d3dc00ce609c565d7f7230f05fe8123e5aa5e56",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_blocks/episode_000040/inputs/source_eef_ik/3ab2702f16ab1e0f8b37/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0.0,
+      0.0,
+      -0.052
+    ],
+    "right": [
+      0.005436465021602744,
+      0.028901407049890727,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000040/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000040/source_eef_receipt.json b/150case/cases/stack_blocks_ep000040/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ad543c7bd53eeae8f04f9fd05fda6c5b394e573
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000040/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "7f52fee0b976be0192d131bc44733e473f16f38f9572bc7edbcd30887ad09944",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
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+              1.0,
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+            [
+              0.0,
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+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
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+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
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+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
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+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.42180865680658364
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.3027875170343972
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9975680342476293e-05,
+      "orientation_error_max_rad": 0.00015154038679103608,
+      "position_error_p95_m": 6.924820874215786e-06,
+      "max_joint_step_rad": 0.07815654774283454
+    },
+    "right": {
+      "position_error_max_m": 0.0005791197871708272,
+      "orientation_error_max_rad": 0.006394681187236936,
+      "position_error_p95_m": 0.00031204780962574294,
+      "max_joint_step_rad": 0.44340311121070297
+    }
+  },
+  "wall_s": 0.6697073532268405,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000040/source_reference/scene.xml b/150case/cases/stack_blocks_ep000040/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3a5cfd282cead5b99a114821468b767270a4fb41
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000040/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7327380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.302787517 -0.3281913432 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.299779679493 -0.828576430065 0.7753" quat="-0.411487089923 0 0 0.911415588427">
+      <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="-0.289291658403 -0.751053080454 0.7753" quat="0.872400424746 0 0 -0.488791876878">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="0.00619871495044 -0.667693241671 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000040/source_scene.json b/150case/cases/stack_blocks_ep000040/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9253cf54886d90ac8dd00927e858fd51326d902
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000040/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.2997796794930921,
+        -0.8285764300649888,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.293422475611264,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.28929165840323057,
+        -0.7510530804541186,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.0214087769073121,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        0.006198714950441478,
+        -0.6676932416705136,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_blocks_ep000041/asset/definition.json b/150case/cases/stack_blocks_ep000041/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..43f71144af7df853f7de9d1603786d58c368db2a
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000041/asset/definition.json
@@ -0,0 +1,182 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "blue_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "blue",
+        "position_m": [
+          0.3447215451083289,
+          -0.7831624298675688,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -2.202867407274119,
+        "rgba": [
+          0.08,
+          0.38,
+          0.52,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.05,
+          0.6
+        ],
+        "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "purple_cube",
+        "shape": "box",
+        "role": "object",
+        "color": "other",
+        "position_m": [
+          -0.34697085440315484,
+          -0.7838344634004316,
+          0.7753
+        ],
+        "size_m": [
+          0.05,
+          0.05,
+          0.05
+        ],
+        "yaw_rad": -1.0141672259662857,
+        "rgba": [
+          0.27,
+          0.2,
+          0.45,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.67,
+          0.58
+        ],
+        "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+        "mass_kg": 0.04
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.0003868832721472329,
+          -0.671380755488848,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "blue_cube",
+        "purple_cube"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "purple_cube",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "blue_cube",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "blue_cube",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_blocks_together.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000041/asset/manifest.json b/150case/cases/stack_blocks_ep000041/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..994b23d8a387540325af9f0231f3db75a12d1864
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000041/asset/manifest.json
@@ -0,0 +1,8 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_revalidated_v61",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "0c2eb398a78ca7cfcfdd0d49a9380e7a0a9360898a122511d7053106b914a235"
+  }
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000041/inputs/case.json b/150case/cases/stack_blocks_ep000041/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..d58fd9bb1e9161898e585573cac8cb714e695327
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000041/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_blocks_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "source_episode": 41,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/data/chunk-000/episode_000041.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000041.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000041.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000041.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_blocks_two_eef_xyz3d_video",
+  "dataset_episode": 41,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "08f22f50d7ef667095ab605b802d00b4db6da6f009254f53b6a19525f5cfc002",
+  "source_rows": 708,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_blocks/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "906fc7795815f7cc7e5c74c3111a7deb1923e6c90241883672e39465929e2c99"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000041/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_blocks_ep000041/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000041/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
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+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
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+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
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+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
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+                            <site name="force_torque_sensor_left" />
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+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
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+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
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+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
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+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
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+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
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+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
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+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000041/source_config.json b/150case/cases/stack_blocks_ep000041/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ff6b1249b447b3e40bebb6c807be6b122566934
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000041/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_blocks_ep000041",
+  "task_family": "dm7",
+  "task": "Stack_the_blocks_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000041",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_blocks_ep000041/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000041/asset",
+  "engineered_task_asset_sha256": "b94c42c35d54e73c3ca8949d01af4d0ebac33b2f99939fedb23b7c9a5278750a",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_blocks/episode_000041/inputs/source_eef_ik/f66a271a09cf3be6974a/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0,
+      0.025,
+      -0.035
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_revalidated_v61_20260920/stack_blocks/episode_000041/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_blocks_ep000041/source_eef_receipt.json b/150case/cases/stack_blocks_ep000041/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..25cb5a9fa03234a396d72f0f1ff5c18a8d66878c
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000041/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "08f22f50d7ef667095ab605b802d00b4db6da6f009254f53b6a19525f5cfc002",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4179072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.0002619877018794625
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9637281719606077e-05,
+      "orientation_error_max_rad": 0.00012810800848595994,
+      "position_error_p95_m": 8.158030934985014e-06,
+      "max_joint_step_rad": 0.09624055179579405
+    },
+    "right": {
+      "position_error_max_m": 0.0003525226004139355,
+      "orientation_error_max_rad": 0.003873909062868671,
+      "position_error_p95_m": 1.2997045947781373e-05,
+      "max_joint_step_rad": 0.07472358960976355
+    }
+  },
+  "wall_s": 0.5401297300122678,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000041/source_reference/scene.xml b/150case/cases/stack_blocks_ep000041/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0aa17ea02c43c7617c7eb4b9df24a2d1f1ef6fc5
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000041/source_reference/scene.xml
@@ -0,0 +1,162 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.3082239821 -0.3320927502 0.7497380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="blue_cube" pos="0.344721545108 -0.783162429868 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="-0.346970854403 -0.7838344634 0.7753" quat="0.874164507932 0 0 -0.485629913691">
+      <freejoint name="purple_cube_free" />
+      <geom name="purple_cube_geom" type="box" size="0.025 0.025 0.025" pos="0 0 0" mass="0.04" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.27 0.2 0.45 1" />
+    </body>
+    <body name="stack_region" pos="-0.000386883272147 -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>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_blocks_ep000041/source_scene.json b/150case/cases/stack_blocks_ep000041/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..12e456d69caa18e4cd85d4e80d064ecd16f88ba9
--- /dev/null
+++ b/150case/cases/stack_blocks_ep000041/source_scene.json
@@ -0,0 +1,117 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "blue_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "blue",
+      "position_m": [
+        0.3447215451083289,
+        -0.7831624298675688,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -2.202867407274119,
+      "rgba": [
+        0.08,
+        0.38,
+        0.52,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.05,
+        0.6
+      ],
+      "evidence": "Real1 head first frame: blue block on image left; end frame: blue base of stack.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "purple_cube",
+      "shape": "box",
+      "role": "object",
+      "color": "other",
+      "position_m": [
+        -0.34697085440315484,
+        -0.7838344634004316,
+        0.7753
+      ],
+      "size_m": [
+        0.05,
+        0.05,
+        0.05
+      ],
+      "yaw_rad": -1.0141672259662857,
+      "rgba": [
+        0.27,
+        0.2,
+        0.45,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.67,
+        0.58
+      ],
+      "evidence": "Real1 head first frame: purple block on image right; end frame: purple upper block.",
+      "mass_kg": 0.04
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.0003868832721472329,
+        -0.671380755488848,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "blue_cube",
+      "purple_cube"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000000/asset/manifest.json b/150case/cases/stack_cups_ep000000/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..f020dbff7c87126fc22a8bf0fd3df04736936b09
--- /dev/null
+++ b/150case/cases/stack_cups_ep000000/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "e41a4b9c95867faee4c227daec1efdf731c1bf75e7dc81b4b3ca64bfbda04916"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000000/inputs/case.json b/150case/cases/stack_cups_ep000000/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..58032fddbf007d3749f5a81cad9081a720190aca
--- /dev/null
+++ b/150case/cases/stack_cups_ep000000/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 0,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000000.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000000.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 0,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "a1920aa1d2272ac153103d420ae4f90823eefb8a98cfaa3d5f87aba4af01e801",
+  "source_rows": 451,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "fcdf265e6499f05347b80be72372b6bdc3e165ec139819b93c4f886013d58dd0"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000010/asset/definition.json b/150case/cases/stack_cups_ep000010/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..225f8a537799c1af0b7eab724463f4a851bd1565
--- /dev/null
+++ b/150case/cases/stack_cups_ep000010/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.28661843259353736,
+          -0.7416032045777782,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.3404310309255311,
+          -0.6937354791047057,
+          0.7928
+        ],
+        "size_m": [
+          0.0585,
+          0.0585,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.014146765010964832,
+          -0.7116534753524355,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000010/asset/manifest.json b/150case/cases/stack_cups_ep000010/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e791b13d0c9f59190586a7936b83faa9ddbdfc4
--- /dev/null
+++ b/150case/cases/stack_cups_ep000010/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "1359e6d65992c3cff05e04af98c628580f4b93d50c9e68078fea62b4c19e5b94"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000010/inputs/case.json b/150case/cases/stack_cups_ep000010/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d0c2eb3439566d2c73590b09ddd677cb23a22d
--- /dev/null
+++ b/150case/cases/stack_cups_ep000010/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 10,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000010.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000010.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000010.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000010.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 10,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "591e431b8d4cb6ba41e9735bc5a464a218c0d049328369f2450a7b3132affa40",
+  "source_rows": 387,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "1d76ea1ae4023899839ad33fb0fbafc53031ee4e38bd5e0f044663e7d6506bb1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000010/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000010/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000010/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
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+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000010/source_config.json b/150case/cases/stack_cups_ep000010/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b5401fbb843fd41d053338026f5c1977ecf88d8
--- /dev/null
+++ b/150case/cases/stack_cups_ep000010/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000010",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000010",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000010/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000010/candidate_00/asset",
+  "engineered_task_asset_sha256": "49beeef66467c81da51f48bfbd33fae4baa23486837404d15548db40c283742f",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000010/inputs/source_eef_ik/9f177f86307435e340a2/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000010/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000010/source_eef_receipt.json b/150case/cases/stack_cups_ep000010/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9a7e92eb7fdfd5ee53124b0b143dbfa108a4285
--- /dev/null
+++ b/150case/cases/stack_cups_ep000010/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "591e431b8d4cb6ba41e9735bc5a464a218c0d049328369f2450a7b3132affa40",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4629072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.28822398205599997
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.735669773297989e-05,
+      "orientation_error_max_rad": 0.00010860662786218216,
+      "position_error_p95_m": 4.136819916155502e-06,
+      "max_joint_step_rad": 0.08289999560635652
+    },
+    "right": {
+      "position_error_max_m": 1.984262564318622e-05,
+      "orientation_error_max_rad": 8.129558678035357e-05,
+      "position_error_p95_m": 7.255876628631432e-06,
+      "max_joint_step_rad": 0.09468101492740977
+    }
+  },
+  "wall_s": 0.2971860128454864,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000010/source_reference/scene.xml b/150case/cases/stack_cups_ep000010/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3d56417fb5dc0ce5f36364b94642059ecdcae71f
--- /dev/null
+++ b/150case/cases/stack_cups_ep000010/source_reference/scene.xml
@@ -0,0 +1,194 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.2882239821 -0.2870927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="cup_left_base" pos="0.286618432594 -0.741603204578 0.7928" quat="0.999800006667 0 0 -0.0199986666933">
+      <freejoint name="cup_left_base_free" />
+      <geom name="cup_left_base_bottom" type="cylinder" size="0.0375 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_left_base_wall_0" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.036 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_left_base_wall_1" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_left_base_wall_2" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_left_base_wall_3" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_left_base_wall_4" type="box" size="0.0015 0.00716084522567 0.0425" pos="2.20436423847e-18 0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_left_base_wall_5" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_left_base_wall_6" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_left_base_wall_7" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_left_base_wall_8" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.036 4.40872847693e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_left_base_wall_9" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_left_base_wall_10" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_left_base_wall_11" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_left_base_wall_12" type="box" size="0.0015 0.00716084522567 0.0425" pos="-6.6130927154e-18 -0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_left_base_wall_13" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_left_base_wall_14" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_left_base_wall_15" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="cup_right_upper" pos="-0.340431030926 -0.693735479105 0.7928" quat="0.999687516276 0 0 0.0249973959147">
+      <freejoint name="cup_right_upper_free" />
+      <geom name="cup_right_upper_bottom" type="cylinder" size="0.02925 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_right_upper_wall_0" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.02775 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_right_upper_wall_1" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_right_upper_wall_2" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_right_upper_wall_3" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_right_upper_wall_4" type="box" size="0.0015 0.00551981819479 0.0425" pos="1.69919743382e-18 0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_right_upper_wall_5" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_right_upper_wall_6" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_right_upper_wall_7" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_right_upper_wall_8" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.02775 3.39839486763e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_right_upper_wall_9" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_right_upper_wall_10" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_right_upper_wall_11" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_right_upper_wall_12" type="box" size="0.0015 0.00551981819479 0.0425" pos="-5.09759230145e-18 -0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_right_upper_wall_13" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_right_upper_wall_14" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_right_upper_wall_15" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="stack_region" pos="-0.014146765011 -0.711653475352 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000010/source_scene.json b/150case/cases/stack_cups_ep000010/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..b33e7916412aae61dd74683fe05fc19db38561bc
--- /dev/null
+++ b/150case/cases/stack_cups_ep000010/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.28661843259353736,
+        -0.7416032045777782,
+        0.7928
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.3404310309255311,
+        -0.6937354791047057,
+        0.7928
+      ],
+      "size_m": [
+        0.0585,
+        0.0585,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.014146765010964832,
+        -0.7116534753524355,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000011/asset/definition.json b/150case/cases/stack_cups_ep000011/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..7885b8084d5d10856b47ff181407986d951cdd7a
--- /dev/null
+++ b/150case/cases/stack_cups_ep000011/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.2832280866775113,
+          -0.814324527194585,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.2852851208984198,
+          -0.7172307767758871,
+          0.7928
+        ],
+        "size_m": [
+          0.0585,
+          0.0585,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.009141547407022096,
+          -0.6834473405351471,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000012/asset/definition.json b/150case/cases/stack_cups_ep000012/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..85c35af38f64eb6eb0512fa35607f8203f095189
--- /dev/null
+++ b/150case/cases/stack_cups_ep000012/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.302216258768208,
+          -0.7453351700928028,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.2564279893769155,
+          -0.67158490859346,
+          0.7928
+        ],
+        "size_m": [
+          0.0585,
+          0.0585,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.013094496419235168,
+          -0.7029688085751714,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000012/asset/manifest.json b/150case/cases/stack_cups_ep000012/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ad6256de32119f97614383534ab4da4e9846c2b
--- /dev/null
+++ b/150case/cases/stack_cups_ep000012/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "c77471e396003a25328b80c75ee79f42f614f7b587daca536d8db8382d2f7475"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000012/inputs/case.json b/150case/cases/stack_cups_ep000012/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb2c6b7a194e879f2b95fd1f2c38bc571e79ef53
--- /dev/null
+++ b/150case/cases/stack_cups_ep000012/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 12,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000012.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000012.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000012.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000012.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 12,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "4517c9278ed16bc531fe90eee636b5d3ee5702001c192020af1a26945006c21c",
+  "source_rows": 399,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "3a300d85d56210de5dbdae247ac181abe38d2b9be3f241047ee23f2d1592b5bc"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000012/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000012/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000012/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
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+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000012/source_config.json b/150case/cases/stack_cups_ep000012/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3c1f57abad5c2ee0676b9f278e9b0a0adb678c9
--- /dev/null
+++ b/150case/cases/stack_cups_ep000012/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000012",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000012",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000012/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000012/candidate_00/asset",
+  "engineered_task_asset_sha256": "9b83f0251b41a7c3f06c5de86e8fc9be8a03fa218dec92291cb8912be7951145",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000012/inputs/source_eef_ik/dfedb332ce22bb0dadac/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000012/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000012/source_eef_receipt.json b/150case/cases/stack_cups_ep000012/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..eed38e5bf0bdb1b8e315277a4ac1ee0ebd832ed6
--- /dev/null
+++ b/150case/cases/stack_cups_ep000012/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "4517c9278ed16bc531fe90eee636b5d3ee5702001c192020af1a26945006c21c",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
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+          2.220446049250313e-16,
+          -0.0,
+          -0.75
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+          1.0,
+          0.75
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+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
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+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
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+            [
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+          "source_reference_from_grasp": [
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+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
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+            [
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+              2.6794896468285145e-08,
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+            [
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+              0.0,
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+        "right": {
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+              0.0,
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+          ],
+          "source_reference_from_grasp": [
+            [
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+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
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+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
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+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9225752791487942e-05,
+      "orientation_error_max_rad": 0.00010385686522293956,
+      "position_error_p95_m": 4.89325748069797e-06,
+      "max_joint_step_rad": 0.0773582041707992
+    },
+    "right": {
+      "position_error_max_m": 0.00036740195126466253,
+      "orientation_error_max_rad": 0.004104862342572005,
+      "position_error_p95_m": 0.0001662658948893107,
+      "max_joint_step_rad": 0.08819188068900297
+    }
+  },
+  "wall_s": 0.30289496714249253,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000012/source_scene.json b/150case/cases/stack_cups_ep000012/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..adcb822f88adcffff4e16781c3b429ac92c901d4
--- /dev/null
+++ b/150case/cases/stack_cups_ep000012/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.302216258768208,
+        -0.7453351700928028,
+        0.7928
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.2564279893769155,
+        -0.67158490859346,
+        0.7928
+      ],
+      "size_m": [
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+        0.0585,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.013094496419235168,
+        -0.7029688085751714,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000013/asset/definition.json b/150case/cases/stack_cups_ep000013/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..9680699918d3cc37a712c3f9442670e7379b7e26
--- /dev/null
+++ b/150case/cases/stack_cups_ep000013/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.31119698793373035,
+          -0.7416049648999756,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.27272536725409197,
+          -0.7747628471360725,
+          0.7928
+        ],
+        "size_m": [
+          0.05525,
+          0.05525,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.015503369612811992,
+          -0.7252250951192665,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000013/asset/manifest.json b/150case/cases/stack_cups_ep000013/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d29dd0e8cf7477e9aa3d6cf5826ee00e3387c996
--- /dev/null
+++ b/150case/cases/stack_cups_ep000013/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "2165bb80a109c409118a4ea06755b976853d05fd785946bcc8c014d7f8a0521e"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000013/inputs/case.json b/150case/cases/stack_cups_ep000013/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5e25b762914b548447912e037e58714f0f6e958
--- /dev/null
+++ b/150case/cases/stack_cups_ep000013/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 13,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000013.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000013.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000013.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000013.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 13,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "9b644c20594a6714233159cf6b70cc1533ad3f968074e92910484161671c1a56",
+  "source_rows": 394,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "6641d4e039ef3d3817a325628f70c22816a2ca1b2da57e0bb4e91fe063dc9364"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000013/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000013/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000013/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
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+    <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" />
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+    <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" />
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+    <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" />
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+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
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+      </body>
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+        <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">
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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" />
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+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
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+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
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+                  <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">
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+                    <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">
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+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
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+                <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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+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
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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" />
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+                        <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" />
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+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000013/source_config.json b/150case/cases/stack_cups_ep000013/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..61f0ee56ae8fecd71d0ee9c50fc738cb22332d2a
--- /dev/null
+++ b/150case/cases/stack_cups_ep000013/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000013",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000013",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000013/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000013/candidate_01/asset",
+  "engineered_task_asset_sha256": "22f8208f04325c6e137adb9e89fa5218a2515acd125b5dc701f0231339ce78e4",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000013/inputs/source_eef_ik/1c465066e45e786217ee/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000013/candidate_01/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000013/source_eef_receipt.json b/150case/cases/stack_cups_ep000013/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..3343bd25212a727177892d4f28095764d18ccc3e
--- /dev/null
+++ b/150case/cases/stack_cups_ep000013/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "9b644c20594a6714233159cf6b70cc1533ad3f968074e92910484161671c1a56",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
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+          2.220446049250313e-16,
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+          -0.75
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+          0.75
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+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
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+              0.0,
+              -0.40709275024330716
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+          "source_reference_from_grasp": [
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+            [
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+              0.0,
+              0.0,
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+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
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+              8.106857591877872e-37,
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+              2.6794896468285145e-08,
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+            [
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+        "right": {
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+          ],
+          "source_reference_from_grasp": [
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+              -1.0,
+              0.0,
+              0.0
+            ],
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+              1.0,
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+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
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+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
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+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9816845476079187e-05,
+      "orientation_error_max_rad": 8.011159411645618e-05,
+      "position_error_p95_m": 5.432913247406389e-06,
+      "max_joint_step_rad": 0.0950119518408219
+    },
+    "right": {
+      "position_error_max_m": 1.9661115315320857e-05,
+      "orientation_error_max_rad": 8.753289887861561e-05,
+      "position_error_p95_m": 4.203820502911484e-06,
+      "max_joint_step_rad": 0.09389832167362089
+    }
+  },
+  "wall_s": 0.2960225688293576,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000013/source_scene.json b/150case/cases/stack_cups_ep000013/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee8bf6ced6ae7f5f699c9982a9c55299a81f7e92
--- /dev/null
+++ b/150case/cases/stack_cups_ep000013/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.31119698793373035,
+        -0.7416049648999756,
+        0.7928
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.27272536725409197,
+        -0.7747628471360725,
+        0.7928
+      ],
+      "size_m": [
+        0.05525,
+        0.05525,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.015503369612811992,
+        -0.7252250951192665,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000014/source_config.json b/150case/cases/stack_cups_ep000014/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..816bfc084c38619155d27a0cb48317fa08ad497d
--- /dev/null
+++ b/150case/cases/stack_cups_ep000014/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000014",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000014",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000014/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000014/candidate_00/asset",
+  "engineered_task_asset_sha256": "73d0b62308cbefa2150692256d89e188cace6d188ed17328c2ef355975dc048f",
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+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000014/inputs/source_eef_ik/ddd06dac17445da52ac9/receipt.json",
+  "source_base_world_shift_m": {
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+      0,
+      -0.06
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+    "right": [
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+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000014/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000014/source_scene.json b/150case/cases/stack_cups_ep000014/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..d11814ff43a5230c240287cc8352274da7591ee7
--- /dev/null
+++ b/150case/cases/stack_cups_ep000014/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.21131964624552263,
+        -0.8320152819089941,
+        0.7978
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.32131488627690635,
+        -0.6557255697740273,
+        0.7928
+      ],
+      "size_m": [
+        0.0585,
+        0.0585,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.009666656290763284,
+        -0.6736397509872886,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000015/asset/definition.json b/150case/cases/stack_cups_ep000015/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb93c535e7f732498c0285fbd016b22e88b25dbe
--- /dev/null
+++ b/150case/cases/stack_cups_ep000015/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.341531930021261,
+          -0.848564413467705,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.43032310004453794,
+          -0.7519740482775552,
+          0.7928
+        ],
+        "size_m": [
+          0.065,
+          0.065,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.02914001299581584,
+          -0.7024880940472272,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
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+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000015/asset/manifest.json b/150case/cases/stack_cups_ep000015/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..7142cb081e7449a616df476acc0d2db115e7d9fe
--- /dev/null
+++ b/150case/cases/stack_cups_ep000015/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v61_instance",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "dd23c6cf0e7a743a95624f2752b5e3e41c79736656660ef71bf710c5a5c06d03"
+  },
+  "status": "awaiting_physics",
+  "scope": "approximate action-compatible layout; not measured real geometry"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000015/inputs/case.json b/150case/cases/stack_cups_ep000015/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb685d0d85ca5a900f35818446d393f8564e78e2
--- /dev/null
+++ b/150case/cases/stack_cups_ep000015/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 15,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000015.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000015.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000015.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000015.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 15,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "de3227bc56b470301224ca6404ce1d91a7f3fc3e2d4130b1c435131685d2a380",
+  "source_rows": 438,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "250ea91401fb9a30d4a7818cb1f0d2776053714fa37fd8eae47b04a50bab13d1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000015/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000015/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000015/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
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+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000015/source_config.json b/150case/cases/stack_cups_ep000015/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..4860bec3ca1608927744beef89f2647b13ec7a25
--- /dev/null
+++ b/150case/cases/stack_cups_ep000015/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000015",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000015",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000015/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v61_20260920/stack_cups/episode_000015/candidate_09/asset",
+  "engineered_task_asset_sha256": "91ee14e0975f6e814db73dd739cf5f67f2bd09104fae4f5fb05a892388a1846d",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_cups/episode_000015/inputs/source_eef_ik/c36252f391688f9552c7/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.013502394915261565,
+      0.07839021610334637,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v61_20260920/stack_cups/episode_000015/candidate_09/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000015/source_eef_receipt.json b/150case/cases/stack_cups_ep000015/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb79ce20e27f9f82056b0d835c91427500292f7
--- /dev/null
+++ b/150case/cases/stack_cups_ep000015/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "de3227bc56b470301224ca6404ce1d91a7f3fc3e2d4130b1c435131685d2a380",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4712974658600393
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.29472158714073843
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.862363606200919e-05,
+      "orientation_error_max_rad": 0.00015521188058089855,
+      "position_error_p95_m": 6.648616724843149e-06,
+      "max_joint_step_rad": 0.1158433004460106
+    },
+    "right": {
+      "position_error_max_m": 0.0007150875569291073,
+      "orientation_error_max_rad": 0.011327308226611883,
+      "position_error_p95_m": 9.007887726576333e-06,
+      "max_joint_step_rad": 1.390421929676617
+    }
+  },
+  "wall_s": 0.3909329790621996,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000015/source_reference/scene.xml b/150case/cases/stack_cups_ep000015/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6cfc02f9e61f271004962dd1acaf8d87086ad646
--- /dev/null
+++ b/150case/cases/stack_cups_ep000015/source_reference/scene.xml
@@ -0,0 +1,194 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
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+      <geom name="cup_left_base_wall_8" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.036 4.40872847693e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_left_base_wall_9" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_left_base_wall_10" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_left_base_wall_11" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_left_base_wall_12" type="box" size="0.0015 0.00716084522567 0.0425" pos="-6.6130927154e-18 -0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_left_base_wall_13" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_left_base_wall_14" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_left_base_wall_15" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="cup_right_upper" pos="-0.430323100045 -0.751974048278 0.7928" quat="0.999687516276 0 0 0.0249973959147">
+      <freejoint name="cup_right_upper_free" />
+      <geom name="cup_right_upper_bottom" type="cylinder" size="0.0325 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_right_upper_wall_0" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.031 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_right_upper_wall_1" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0286402655078 0.0118631864033 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_right_upper_wall_2" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0219203102168 0.0219203102168 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_right_upper_wall_3" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0118631864033 0.0286402655078 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_right_upper_wall_4" type="box" size="0.0015 0.00616628338877 0.0425" pos="1.89820253868e-18 0.031 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_right_upper_wall_5" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0118631864033 0.0286402655078 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_right_upper_wall_6" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0219203102168 0.0219203102168 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_right_upper_wall_7" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0286402655078 0.0118631864033 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_right_upper_wall_8" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.031 3.79640507736e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_right_upper_wall_9" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0286402655078 -0.0118631864033 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_right_upper_wall_10" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0219203102168 -0.0219203102168 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_right_upper_wall_11" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0118631864033 -0.0286402655078 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_right_upper_wall_12" type="box" size="0.0015 0.00616628338877 0.0425" pos="-5.69460761604e-18 -0.031 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_right_upper_wall_13" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0118631864033 -0.0286402655078 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_right_upper_wall_14" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0219203102168 -0.0219203102168 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_right_upper_wall_15" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0286402655078 -0.0118631864033 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="stack_region" pos="-0.0291400129958 -0.702488094047 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000015/source_scene.json b/150case/cases/stack_cups_ep000015/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..0caf9a6e06636d8513fafc13c819efa5e9fa38fa
--- /dev/null
+++ b/150case/cases/stack_cups_ep000015/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.341531930021261,
+        -0.848564413467705,
+        0.7928
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.43032310004453794,
+        -0.7519740482775552,
+        0.7928
+      ],
+      "size_m": [
+        0.065,
+        0.065,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.02914001299581584,
+        -0.7024880940472272,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000016/asset/definition.json b/150case/cases/stack_cups_ep000016/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c836690f8eb39838f516b24e2d37f413a0b1a86
--- /dev/null
+++ b/150case/cases/stack_cups_ep000016/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.2900569473426466,
+          -0.8124651592926111,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.3398902391664695,
+          -0.6799560465435955,
+          0.7928
+        ],
+        "size_m": [
+          0.0585,
+          0.0585,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.011401419001972665,
+          -0.6921269819351884,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000016/asset/manifest.json b/150case/cases/stack_cups_ep000016/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2f310d59bb3a2adfc02846af9c4795c81e0ad49
--- /dev/null
+++ b/150case/cases/stack_cups_ep000016/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "a9e703b114a7c6fdb89ac28052537f59ca384d09b9008f2d028cd50351ba5874"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000016/inputs/case.json b/150case/cases/stack_cups_ep000016/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3c5377bc7a7e3602cb461b950bc5e62cc775186
--- /dev/null
+++ b/150case/cases/stack_cups_ep000016/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 16,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000016.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000016.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000016.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000016.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 16,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "ceeab592e42bdfe0d8ef3267d4841955fbdb8a3cf9444328051a3e084678d8cf",
+  "source_rows": 378,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "aeef165f31996099e2fd695dfe253b298c55fdf19fad1d5c8377281b43be9406"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000016/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000016/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000016/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
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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" />
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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="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
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+    <mesh name="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" />
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+    <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" />
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+    <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" />
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+  <worldbody>
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+    <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" />
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+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000016/source_config.json b/150case/cases/stack_cups_ep000016/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..110b4b6caf2354f3abc416395d31bb7d4105d3a2
--- /dev/null
+++ b/150case/cases/stack_cups_ep000016/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000016",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000016",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000016/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000016/candidate_00/asset",
+  "engineered_task_asset_sha256": "c6925e30f8df37f834b7f9737acbb13636bbb139c122b1c8deef93314bdafde3",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000016/inputs/source_eef_ik/c9338b2524fd77904836/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000016/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000016/source_eef_receipt.json b/150case/cases/stack_cups_ep000016/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..a14192e7a6f0398d35504a9ba2fc7f0426e404b2
--- /dev/null
+++ b/150case/cases/stack_cups_ep000016/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "ceeab592e42bdfe0d8ef3267d4841955fbdb8a3cf9444328051a3e084678d8cf",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4629072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.28822398205599997
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.8176463981758552e-05,
+      "orientation_error_max_rad": 0.00013449472100725334,
+      "position_error_p95_m": 3.76646403013015e-06,
+      "max_joint_step_rad": 0.09143964106214342
+    },
+    "right": {
+      "position_error_max_m": 1.996840395110857e-05,
+      "orientation_error_max_rad": 0.00013419376359997826,
+      "position_error_p95_m": 1.3599700451629564e-05,
+      "max_joint_step_rad": 0.4138000597793811
+    }
+  },
+  "wall_s": 0.28257804410532117,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000016/source_reference/scene.xml b/150case/cases/stack_cups_ep000016/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d6394465a3ba34beb30c105d37129df4e134cc55
--- /dev/null
+++ b/150case/cases/stack_cups_ep000016/source_reference/scene.xml
@@ -0,0 +1,194 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.2882239821 -0.2870927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="cup_left_base" pos="0.290056947343 -0.812465159293 0.7928" quat="0.999800006667 0 0 -0.0199986666933">
+      <freejoint name="cup_left_base_free" />
+      <geom name="cup_left_base_bottom" type="cylinder" size="0.0375 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_left_base_wall_0" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.036 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_left_base_wall_1" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_left_base_wall_2" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_left_base_wall_3" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_left_base_wall_4" type="box" size="0.0015 0.00716084522567 0.0425" pos="2.20436423847e-18 0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_left_base_wall_5" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_left_base_wall_6" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_left_base_wall_7" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_left_base_wall_8" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.036 4.40872847693e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_left_base_wall_9" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_left_base_wall_10" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_left_base_wall_11" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_left_base_wall_12" type="box" size="0.0015 0.00716084522567 0.0425" pos="-6.6130927154e-18 -0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_left_base_wall_13" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_left_base_wall_14" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_left_base_wall_15" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="cup_right_upper" pos="-0.339890239166 -0.679956046544 0.7928" quat="0.999687516276 0 0 0.0249973959147">
+      <freejoint name="cup_right_upper_free" />
+      <geom name="cup_right_upper_bottom" type="cylinder" size="0.02925 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_right_upper_wall_0" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.02775 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_right_upper_wall_1" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_right_upper_wall_2" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_right_upper_wall_3" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_right_upper_wall_4" type="box" size="0.0015 0.00551981819479 0.0425" pos="1.69919743382e-18 0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_right_upper_wall_5" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_right_upper_wall_6" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_right_upper_wall_7" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_right_upper_wall_8" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.02775 3.39839486763e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_right_upper_wall_9" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_right_upper_wall_10" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_right_upper_wall_11" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_right_upper_wall_12" type="box" size="0.0015 0.00551981819479 0.0425" pos="-5.09759230145e-18 -0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_right_upper_wall_13" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_right_upper_wall_14" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_right_upper_wall_15" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="stack_region" pos="-0.011401419002 -0.692126981935 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000016/source_scene.json b/150case/cases/stack_cups_ep000016/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..72be9d0d89ba3203d86a6ea03c679cd4c90fef40
--- /dev/null
+++ b/150case/cases/stack_cups_ep000016/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.2900569473426466,
+        -0.8124651592926111,
+        0.7928
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.3398902391664695,
+        -0.6799560465435955,
+        0.7928
+      ],
+      "size_m": [
+        0.0585,
+        0.0585,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.011401419001972665,
+        -0.6921269819351884,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000018/asset/definition.json b/150case/cases/stack_cups_ep000018/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..793acfb892506de30515e6a61711d621315734d0
--- /dev/null
+++ b/150case/cases/stack_cups_ep000018/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.25417722258205117,
+          -0.6994050956950559,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.2830352068314827,
+          -0.774375464372681,
+          0.7928
+        ],
+        "size_m": [
+          0.0585,
+          0.0585,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.015809576598143298,
+          -0.6762711048679922,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000018/asset/manifest.json b/150case/cases/stack_cups_ep000018/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..7042e9580f2ce6e93eb6648542ccd02f00ea5477
--- /dev/null
+++ b/150case/cases/stack_cups_ep000018/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "3a3b6eed41b46ff4f156190d1c96e13490ebb059644c3925dfb618a6c4b2896c"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000018/inputs/case.json b/150case/cases/stack_cups_ep000018/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..a911b5dbc3e5460eaba9830eada9ecebca86e133
--- /dev/null
+++ b/150case/cases/stack_cups_ep000018/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 18,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000018.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000018.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000018.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000018.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 18,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "405a2692d0e95603d4d075690c8a1f51f1ffe9f01f4d0785bf3fe7f24629f400",
+  "source_rows": 399,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "4ea46905cce0ec3bac86f648bb0e369e4bcaa98447a981fd778d177ac9dfba9d"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000018/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000018/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000018/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
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+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000018/source_config.json b/150case/cases/stack_cups_ep000018/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..619909713dae5edce8842ec90da3681e8c0a51b1
--- /dev/null
+++ b/150case/cases/stack_cups_ep000018/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000018",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000018",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000018/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000018/candidate_00/asset",
+  "engineered_task_asset_sha256": "3480c77f775c898f7e2c4bd1a97ea63b10a4001f28eafe80d16d23909a13806e",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000018/inputs/source_eef_ik/eedbdfc57bb8cf1872c1/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000018/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000018/source_eef_receipt.json b/150case/cases/stack_cups_ep000018/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe86384f2533602cf4c390271d99c85463c791bd
--- /dev/null
+++ b/150case/cases/stack_cups_ep000018/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "405a2692d0e95603d4d075690c8a1f51f1ffe9f01f4d0785bf3fe7f24629f400",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4629072497566929
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+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.28822398205599997
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.8607190435575275e-05,
+      "orientation_error_max_rad": 0.00010952475978174318,
+      "position_error_p95_m": 6.922831176100053e-06,
+      "max_joint_step_rad": 0.08638268069860011
+    },
+    "right": {
+      "position_error_max_m": 1.732591372440358e-05,
+      "orientation_error_max_rad": 0.00015850041764735513,
+      "position_error_p95_m": 3.969564983810748e-06,
+      "max_joint_step_rad": 0.08960327241695298
+    }
+  },
+  "wall_s": 0.2926426809281111,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000018/source_reference/scene.xml b/150case/cases/stack_cups_ep000018/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5cc4042d0ba7796fc065ab7c7f88fbe2d06a5609
--- /dev/null
+++ b/150case/cases/stack_cups_ep000018/source_reference/scene.xml
@@ -0,0 +1,194 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
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+      <geom name="cup_left_base_wall_13" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_left_base_wall_14" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_left_base_wall_15" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="cup_right_upper" pos="-0.283035206831 -0.774375464373 0.7928" quat="0.999687516276 0 0 0.0249973959147">
+      <freejoint name="cup_right_upper_free" />
+      <geom name="cup_right_upper_bottom" type="cylinder" size="0.02925 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_right_upper_wall_0" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.02775 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_right_upper_wall_1" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_right_upper_wall_2" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_right_upper_wall_3" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_right_upper_wall_4" type="box" size="0.0015 0.00551981819479 0.0425" pos="1.69919743382e-18 0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_right_upper_wall_5" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_right_upper_wall_6" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_right_upper_wall_7" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_right_upper_wall_8" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.02775 3.39839486763e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_right_upper_wall_9" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_right_upper_wall_10" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_right_upper_wall_11" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_right_upper_wall_12" type="box" size="0.0015 0.00551981819479 0.0425" pos="-5.09759230145e-18 -0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_right_upper_wall_13" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_right_upper_wall_14" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_right_upper_wall_15" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="stack_region" pos="-0.0158095765981 -0.676271104868 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000018/source_scene.json b/150case/cases/stack_cups_ep000018/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec266415d33e0cee271a3ae12acff3690d344196
--- /dev/null
+++ b/150case/cases/stack_cups_ep000018/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.25417722258205117,
+        -0.6994050956950559,
+        0.7928
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.2830352068314827,
+        -0.774375464372681,
+        0.7928
+      ],
+      "size_m": [
+        0.0585,
+        0.0585,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.015809576598143298,
+        -0.6762711048679922,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000019/asset/definition.json b/150case/cases/stack_cups_ep000019/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac775397fb25ede770e28b8231ad3786ccc5e823
--- /dev/null
+++ b/150case/cases/stack_cups_ep000019/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.25633940815786777,
+          -0.7407811672788418,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.375170789275055,
+          -0.6542361278834935,
+          0.7928
+        ],
+        "size_m": [
+          0.05525,
+          0.05525,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.008142708979504101,
+          -0.6798933068602789,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000019/asset/manifest.json b/150case/cases/stack_cups_ep000019/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..16833e9062737dbfee7f0f6c62f61a2d2c89b097
--- /dev/null
+++ b/150case/cases/stack_cups_ep000019/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "9cf04da60dfd0098b43b1b3adf6e4d5c7f40f809e483d547f4ef6de116cfdb8c"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000019/inputs/case.json b/150case/cases/stack_cups_ep000019/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f4fbaafbd8dd0185eb9dc67cba37fac60880985
--- /dev/null
+++ b/150case/cases/stack_cups_ep000019/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 19,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000019.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000019.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000019.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000019.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 19,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "bb6a54c8f8f35ea23ab5c9909cf8fb14c32e390b1912df9b37bb9d1ce787d5ec",
+  "source_rows": 383,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "5ff9bc86165c5b073911875d9c83ff3b5d89fc0c8a0b5de0d8c2fedbb7c6a872"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000019/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000019/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000019/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
+    <mesh name="astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="gripper_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_base_link.STL" />
+    <mesh name="gripper_L1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L1_Link.STL" />
+    <mesh name="gripper_L11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L11_Link.STL" />
+    <mesh name="gripper_L2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_L2_Link.STL" />
+    <mesh name="gripper_R1_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R1_Link.STL" />
+    <mesh name="gripper_R11_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R11_Link.STL" />
+    <mesh name="gripper_R2_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_gripper/astribot_gripper_R2_Link.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_base_link" mesh="astribot_torso_base_link" />
+      <site name="astribot_chassis_imu_site" pos="0 0 0" />
+      <body name="wheel_RF_Link" pos="0.216347 -0.216347 -0.015" quat="0.270599 0.65328 -0.2706 0.653282" gravcomp="0">
+        <inertial pos="2.7624e-07 -1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RF_Link" />
+      </body>
+      <body name="wheel_LF_Link" pos="0.216347 0.216347 -0.015" quat="0.270599 -0.65328 -0.2706 -0.653282" gravcomp="0">
+        <inertial pos="2.7617e-07 -1.7589e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_LF_Link" />
+      </body>
+      <body name="wheel_RR_Link" pos="-0.216347 -0.211347 -0.015" quat="0.65328 0.270597 -0.653283 0.270598" gravcomp="0">
+        <inertial pos="-2.7619e-07 1.7583e-07 0.014539" quat="0.270598 0.653281 -0.270598 0.653281" mass="0.56418" diaginertia="0.0015639 0.000831884 0.000831876" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_rubber_wheel" mesh="wheel_RR_Link" />
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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" />
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+        <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" />
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+              <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">
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+                  <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" />
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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">
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+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
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+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000019/source_config.json b/150case/cases/stack_cups_ep000019/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e3e2399e7c6f82dfb90caf536392b22df0b48c2
--- /dev/null
+++ b/150case/cases/stack_cups_ep000019/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000019",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000019",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000019/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000019/candidate_01/asset",
+  "engineered_task_asset_sha256": "7978d3b31a0a2257191a5c6381004fb64c9c2c7450723406a72b273624a07885",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000019/inputs/source_eef_ik/8795dad875d1f16bf832/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000019/candidate_01/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000019/source_eef_receipt.json b/150case/cases/stack_cups_ep000019/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d1cf54037aeeec1eeb7cc86af0f0dd3c4c4b94a
--- /dev/null
+++ b/150case/cases/stack_cups_ep000019/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "bb6a54c8f8f35ea23ab5c9909cf8fb14c32e390b1912df9b37bb9d1ce787d5ec",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4629072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.28822398205599997
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.998836951107318e-05,
+      "orientation_error_max_rad": 0.00014758208490535897,
+      "position_error_p95_m": 1.0396820109608911e-05,
+      "max_joint_step_rad": 0.09998173274918809
+    },
+    "right": {
+      "position_error_max_m": 0.00019052056028710454,
+      "orientation_error_max_rad": 0.0021057577572138886,
+      "position_error_p95_m": 1.777090273850135e-05,
+      "max_joint_step_rad": 0.08599708513337534
+    }
+  },
+  "wall_s": 0.3004040038213134,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000019/source_reference/scene.xml b/150case/cases/stack_cups_ep000019/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9ed086faaa0b8adabbb5f05d582f7d34470972ef
--- /dev/null
+++ b/150case/cases/stack_cups_ep000019/source_reference/scene.xml
@@ -0,0 +1,194 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.2882239821 -0.2870927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="cup_left_base" pos="0.256339408158 -0.740781167279 0.7928" quat="0.999800006667 0 0 -0.0199986666933">
+      <freejoint name="cup_left_base_free" />
+      <geom name="cup_left_base_bottom" type="cylinder" size="0.0375 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_left_base_wall_0" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.036 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_left_base_wall_1" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_left_base_wall_2" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_left_base_wall_3" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_left_base_wall_4" type="box" size="0.0015 0.00716084522567 0.0425" pos="2.20436423847e-18 0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_left_base_wall_5" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_left_base_wall_6" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_left_base_wall_7" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_left_base_wall_8" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.036 4.40872847693e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_left_base_wall_9" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_left_base_wall_10" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_left_base_wall_11" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_left_base_wall_12" type="box" size="0.0015 0.00716084522567 0.0425" pos="-6.6130927154e-18 -0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_left_base_wall_13" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_left_base_wall_14" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_left_base_wall_15" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="cup_right_upper" pos="-0.375170789275 -0.654236127883 0.7928" quat="0.999687516276 0 0 0.0249973959147">
+      <freejoint name="cup_right_upper_free" />
+      <geom name="cup_right_upper_bottom" type="cylinder" size="0.027625 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_right_upper_wall_0" type="box" size="0.0015 0.00519658559779 0.0425" pos="0.026125 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_right_upper_wall_1" type="box" size="0.0015 0.00519658559779 0.0425" pos="0.0241363527869 0.00999760467054 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_right_upper_wall_2" type="box" size="0.0015 0.00519658559779 0.0425" pos="0.0184731646585 0.0184731646585 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_right_upper_wall_3" type="box" size="0.0015 0.00519658559779 0.0425" pos="0.00999760467054 0.0241363527869 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_right_upper_wall_4" type="box" size="0.0015 0.00519658559779 0.0425" pos="1.59969488139e-18 0.026125 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_right_upper_wall_5" type="box" size="0.0015 0.00519658559779 0.0425" pos="-0.00999760467054 0.0241363527869 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_right_upper_wall_6" type="box" size="0.0015 0.00519658559779 0.0425" pos="-0.0184731646585 0.0184731646585 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_right_upper_wall_7" type="box" size="0.0015 0.00519658559779 0.0425" pos="-0.0241363527869 0.00999760467054 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_right_upper_wall_8" type="box" size="0.0015 0.00519658559779 0.0425" pos="-0.026125 3.19938976277e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_right_upper_wall_9" type="box" size="0.0015 0.00519658559779 0.0425" pos="-0.0241363527869 -0.00999760467054 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_right_upper_wall_10" type="box" size="0.0015 0.00519658559779 0.0425" pos="-0.0184731646585 -0.0184731646585 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_right_upper_wall_11" type="box" size="0.0015 0.00519658559779 0.0425" pos="-0.00999760467054 -0.0241363527869 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_right_upper_wall_12" type="box" size="0.0015 0.00519658559779 0.0425" pos="-4.79908464416e-18 -0.026125 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_right_upper_wall_13" type="box" size="0.0015 0.00519658559779 0.0425" pos="0.00999760467054 -0.0241363527869 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_right_upper_wall_14" type="box" size="0.0015 0.00519658559779 0.0425" pos="0.0184731646585 -0.0184731646585 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_right_upper_wall_15" type="box" size="0.0015 0.00519658559779 0.0425" pos="0.0241363527869 -0.00999760467054 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="stack_region" pos="-0.0081427089795 -0.67989330686 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000019/source_scene.json b/150case/cases/stack_cups_ep000019/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..173f78853def05a644d805611eeb09d36fbcc972
--- /dev/null
+++ b/150case/cases/stack_cups_ep000019/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.25633940815786777,
+        -0.7407811672788418,
+        0.7928
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.375170789275055,
+        -0.6542361278834935,
+        0.7928
+      ],
+      "size_m": [
+        0.05525,
+        0.05525,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.008142708979504101,
+        -0.6798933068602789,
+        0.7517999999999999
+      ],
+      "size_m": [
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+        0.16,
+        0.003
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+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
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+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000020/asset/manifest.json b/150case/cases/stack_cups_ep000020/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..0633631c77e629abf4e8a25744e41d50b6debf9d
--- /dev/null
+++ b/150case/cases/stack_cups_ep000020/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "54d394eb5122e8a813d03ed550fe771b945aeed3e7d171b1395c0cc56b75786e"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000020/source_scene.json b/150case/cases/stack_cups_ep000020/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e43f2e55d6629bf26488c2e81b7a0e76ec08ec9
--- /dev/null
+++ b/150case/cases/stack_cups_ep000020/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
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+      "size_m": [
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+        0.075,
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+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
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+        -0.6587247532687756,
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+      "size_m": [
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+        0.052000000000000005,
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+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.010242338817861206,
+        -0.6629188407509791,
+        0.7517999999999999
+      ],
+      "size_m": [
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+        0.16,
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+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000024/asset/definition.json b/150case/cases/stack_cups_ep000024/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..1312bb3631d5ed5eb3c4b65d22cf7eb8fd60fbc6
--- /dev/null
+++ b/150case/cases/stack_cups_ep000024/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
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+          -0.831972972887117,
+          0.7928
+        ],
+        "size_m": [
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+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
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+          -0.6841469666485287,
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+        ],
+        "size_m": [
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+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.014725949672053418,
+          -0.6909772456828983,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000024/asset/manifest.json b/150case/cases/stack_cups_ep000024/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9278f6547f8255464559239d1f6c2e7d1781428
--- /dev/null
+++ b/150case/cases/stack_cups_ep000024/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "probe",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "9e2a9dfe0b1338f5cad39c955ebb686de5fe253c8cbb45a18652dea4854b4346"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000024/inputs/case.json b/150case/cases/stack_cups_ep000024/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe6a39044ce72e1077b73d9c099de810d461db48
--- /dev/null
+++ b/150case/cases/stack_cups_ep000024/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 24,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000024.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000024.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000024.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000024.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 24,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "72c02283d0fae0c36cbc6e00106d898164c7ae03d55f028f5e707243ecf536d2",
+  "source_rows": 367,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "7fc9fa7f4bbc1ade4c61f41b38c8b2f1128ade943025219a7d7c800de9abf3f0"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000024/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000024/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000024/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
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+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
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+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000024/source_config.json b/150case/cases/stack_cups_ep000024/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..1099f27bd4083d534a4ac754679fbf15aeb7ff10
--- /dev/null
+++ b/150case/cases/stack_cups_ep000024/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000024",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000024",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000024/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/tmp/cup_ep24_try0/asset",
+  "engineered_task_asset_sha256": "fadacaa8c22b182e438117b8f44ec75a52a99da39cc71c31c1ab8c8b8865095f",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000024/inputs/source_eef_ik/09590fa27991288abfe2/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_targeted_repair_20260920/stack_cups/episode_000024/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000024/source_eef_receipt.json b/150case/cases/stack_cups_ep000024/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5f7ecb58ca60bafa9d2c31e83c1bd7b3ca2c53
--- /dev/null
+++ b/150case/cases/stack_cups_ep000024/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "72c02283d0fae0c36cbc6e00106d898164c7ae03d55f028f5e707243ecf536d2",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4629072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.28822398205599997
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.817748613220364e-05,
+      "orientation_error_max_rad": 0.0001478199953635814,
+      "position_error_p95_m": 4.414107433893589e-06,
+      "max_joint_step_rad": 0.0985569612131767
+    },
+    "right": {
+      "position_error_max_m": 1.8129847595196973e-05,
+      "orientation_error_max_rad": 8.052396583628255e-05,
+      "position_error_p95_m": 4.132055564822586e-06,
+      "max_joint_step_rad": 0.08830746098704045
+    }
+  },
+  "wall_s": 0.2809575330466032,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000024/source_reference/scene.xml b/150case/cases/stack_cups_ep000024/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..eb325efcd426c04d4d7b13273fceec033b376241
--- /dev/null
+++ b/150case/cases/stack_cups_ep000024/source_reference/scene.xml
@@ -0,0 +1,194 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.2882239821 -0.2870927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="cup_left_base" pos="0.295024643045 -0.831972972887 0.7928" quat="0.999800006667 0 0 -0.0199986666933">
+      <freejoint name="cup_left_base_free" />
+      <geom name="cup_left_base_bottom" type="cylinder" size="0.0375 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_left_base_wall_0" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.036 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_left_base_wall_1" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_left_base_wall_2" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_left_base_wall_3" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_left_base_wall_4" type="box" size="0.0015 0.00716084522567 0.0425" pos="2.20436423847e-18 0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_left_base_wall_5" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_left_base_wall_6" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_left_base_wall_7" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_left_base_wall_8" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.036 4.40872847693e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_left_base_wall_9" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_left_base_wall_10" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_left_base_wall_11" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_left_base_wall_12" type="box" size="0.0015 0.00716084522567 0.0425" pos="-6.6130927154e-18 -0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_left_base_wall_13" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_left_base_wall_14" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_left_base_wall_15" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="cup_right_upper" pos="-0.28815227472 -0.684146966649 0.7928" quat="0.999687516276 0 0 0.0249973959147">
+      <freejoint name="cup_right_upper_free" />
+      <geom name="cup_right_upper_bottom" type="cylinder" size="0.026 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_right_upper_wall_0" type="box" size="0.0015 0.0048733530008 0.0425" pos="0.0245 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_right_upper_wall_1" type="box" size="0.0015 0.0048733530008 0.0425" pos="0.0226350485465 0.00937574409294 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_right_upper_wall_2" type="box" size="0.0015 0.0048733530008 0.0425" pos="0.0173241161391 0.0173241161391 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_right_upper_wall_3" type="box" size="0.0015 0.0048733530008 0.0425" pos="0.00937574409294 0.0226350485465 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_right_upper_wall_4" type="box" size="0.0015 0.0048733530008 0.0425" pos="1.50019232896e-18 0.0245 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_right_upper_wall_5" type="box" size="0.0015 0.0048733530008 0.0425" pos="-0.00937574409294 0.0226350485465 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_right_upper_wall_6" type="box" size="0.0015 0.0048733530008 0.0425" pos="-0.0173241161391 0.0173241161391 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_right_upper_wall_7" type="box" size="0.0015 0.0048733530008 0.0425" pos="-0.0226350485465 0.00937574409294 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_right_upper_wall_8" type="box" size="0.0015 0.0048733530008 0.0425" pos="-0.0245 3.00038465791e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_right_upper_wall_9" type="box" size="0.0015 0.0048733530008 0.0425" pos="-0.0226350485465 -0.00937574409294 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_right_upper_wall_10" type="box" size="0.0015 0.0048733530008 0.0425" pos="-0.0173241161391 -0.0173241161391 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_right_upper_wall_11" type="box" size="0.0015 0.0048733530008 0.0425" pos="-0.00937574409294 -0.0226350485465 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_right_upper_wall_12" type="box" size="0.0015 0.0048733530008 0.0425" pos="-4.50057698687e-18 -0.0245 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_right_upper_wall_13" type="box" size="0.0015 0.0048733530008 0.0425" pos="0.00937574409294 -0.0226350485465 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_right_upper_wall_14" type="box" size="0.0015 0.0048733530008 0.0425" pos="0.0173241161391 -0.0173241161391 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_right_upper_wall_15" type="box" size="0.0015 0.0048733530008 0.0425" pos="0.0226350485465 -0.00937574409294 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="stack_region" pos="-0.0147259496721 -0.690977245683 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000024/source_scene.json b/150case/cases/stack_cups_ep000024/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..292fb7ff5ee74b146358773d1313978cdd53abfa
--- /dev/null
+++ b/150case/cases/stack_cups_ep000024/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.29502464304519244,
+        -0.831972972887117,
+        0.7928
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.28815227471962584,
+        -0.6841469666485287,
+        0.7928
+      ],
+      "size_m": [
+        0.052,
+        0.052,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.014725949672053418,
+        -0.6909772456828983,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000032/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000032/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000032/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+      <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" />
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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_dark_mechanism" mesh="astribot_head_link_1" />
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+                  <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_white_shell" mesh="astribot_arm_link_6" />
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+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
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+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
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+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
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+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
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+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
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+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
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+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000032/source_eef_receipt.json b/150case/cases/stack_cups_ep000032/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..19e5258b54e5329cb5435b2d67ff654bd19563e0
--- /dev/null
+++ b/150case/cases/stack_cups_ep000032/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "69eaf90a22a212dcd191591d9108cbeef4976e0600e540bfd47061ba796f61f7",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4629072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.28822398205599997
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9538822396569523e-05,
+      "orientation_error_max_rad": 0.0001079522420617931,
+      "position_error_p95_m": 7.804344047665991e-06,
+      "max_joint_step_rad": 0.08717085278107062
+    },
+    "right": {
+      "position_error_max_m": 1.989902019354214e-05,
+      "orientation_error_max_rad": 8.253114176149107e-05,
+      "position_error_p95_m": 3.850315025279108e-06,
+      "max_joint_step_rad": 0.08664122442115763
+    }
+  },
+  "wall_s": 0.28113425010815263,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000032/source_reference/scene.xml b/150case/cases/stack_cups_ep000032/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6b9a1abc3de01c68af34dbda89f9c979b88b39ae
--- /dev/null
+++ b/150case/cases/stack_cups_ep000032/source_reference/scene.xml
@@ -0,0 +1,194 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
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+      <geom name="cup_left_base_wall_13" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_left_base_wall_14" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_left_base_wall_15" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="cup_right_upper" pos="-0.256230524042 -0.648738768061 0.7928" quat="0.999687516276 0 0 0.0249973959147">
+      <freejoint name="cup_right_upper_free" />
+      <geom name="cup_right_upper_bottom" type="cylinder" size="0.02925 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_right_upper_wall_0" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.02775 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_right_upper_wall_1" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_right_upper_wall_2" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_right_upper_wall_3" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_right_upper_wall_4" type="box" size="0.0015 0.00551981819479 0.0425" pos="1.69919743382e-18 0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_right_upper_wall_5" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_right_upper_wall_6" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_right_upper_wall_7" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_right_upper_wall_8" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.02775 3.39839486763e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_right_upper_wall_9" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_right_upper_wall_10" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_right_upper_wall_11" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_right_upper_wall_12" type="box" size="0.0015 0.00551981819479 0.0425" pos="-5.09759230145e-18 -0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_right_upper_wall_13" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_right_upper_wall_14" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_right_upper_wall_15" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="stack_region" pos="-0.0148001209176 -0.668015725846 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000033/asset/definition.json b/150case/cases/stack_cups_ep000033/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2c3d42e9b1eb10b75e8e87a8b1cad9509093e98
--- /dev/null
+++ b/150case/cases/stack_cups_ep000033/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.2741736606251473,
+          -0.7317142413557758,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.2681123428159907,
+          -0.731892486515028,
+          0.7928
+        ],
+        "size_m": [
+          0.0585,
+          0.0585,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.022196417772279882,
+          -0.6787414908387337,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000033/asset/manifest.json b/150case/cases/stack_cups_ep000033/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fb8d489194d94dec1e4f12e25497f61f97a0e89
--- /dev/null
+++ b/150case/cases/stack_cups_ep000033/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "86a1859e815258f408807ef0998438951733e1322c1d9059f2ad2e2ed216f5a6"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000033/inputs/case.json b/150case/cases/stack_cups_ep000033/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d54b437603e000fb64fac43b56ec0a597b71c35
--- /dev/null
+++ b/150case/cases/stack_cups_ep000033/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 33,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000033.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000033.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000033.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000033.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 33,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "c2bee98cef4f11493ca10bf0365ab675127cdc53ede032697482bf7122120465",
+  "source_rows": 390,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "77f1d7aac28bc98f1ac656438fd762f5896c180d728adf4a135c56e861661024"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000033/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000033/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000033/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
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+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000033/source_config.json b/150case/cases/stack_cups_ep000033/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3cde9cb0908538279a513a3d7101bedffbb0263
--- /dev/null
+++ b/150case/cases/stack_cups_ep000033/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000033",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000033",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000033/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000033/candidate_00/asset",
+  "engineered_task_asset_sha256": "4b399c482249adcd17fda937fba03c720dede9b9dd549dd33237719a4e9c4100",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000033/inputs/source_eef_ik/8baf4d6ffb4036579b02/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000033/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000033/source_eef_receipt.json b/150case/cases/stack_cups_ep000033/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..195d023bfcdf143136bb9cad1ab11253fcc17c10
--- /dev/null
+++ b/150case/cases/stack_cups_ep000033/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "c2bee98cef4f11493ca10bf0365ab675127cdc53ede032697482bf7122120465",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
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+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
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+              0.308223982056
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+              1.0,
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+          "source_reference_from_grasp": [
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+              0.0
+            ],
+            [
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+              1.0,
+              0.13366940357801368
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+            [
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+              0.0,
+              1.0
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+          "target_site_from_grasp": [
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+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
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+              0.9999999999999997,
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+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
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+          ]
+        },
+        "right": {
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+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4629072497566929
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+              0.999462342916746,
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+              -0.28822398205599997
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+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.935975202105033e-05,
+      "orientation_error_max_rad": 0.00011384865218375887,
+      "position_error_p95_m": 5.194561808586257e-06,
+      "max_joint_step_rad": 0.0961864969604902
+    },
+    "right": {
+      "position_error_max_m": 1.903041259966985e-05,
+      "orientation_error_max_rad": 6.747110081591462e-05,
+      "position_error_p95_m": 3.6938767078406694e-06,
+      "max_joint_step_rad": 0.07768862292782419
+    }
+  },
+  "wall_s": 0.29199699219316244,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000033/source_reference/scene.xml b/150case/cases/stack_cups_ep000033/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6cae8ff1b08ebfa51645fa801b4a69f0989fce37
--- /dev/null
+++ b/150case/cases/stack_cups_ep000033/source_reference/scene.xml
@@ -0,0 +1,194 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.2882239821 -0.2870927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="cup_left_base" pos="0.274173660625 -0.731714241356 0.7928" quat="0.999800006667 0 0 -0.0199986666933">
+      <freejoint name="cup_left_base_free" />
+      <geom name="cup_left_base_bottom" type="cylinder" size="0.0375 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_left_base_wall_0" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.036 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_left_base_wall_1" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_left_base_wall_2" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_left_base_wall_3" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_left_base_wall_4" type="box" size="0.0015 0.00716084522567 0.0425" pos="2.20436423847e-18 0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_left_base_wall_5" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_left_base_wall_6" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_left_base_wall_7" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_left_base_wall_8" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.036 4.40872847693e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_left_base_wall_9" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_left_base_wall_10" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_left_base_wall_11" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_left_base_wall_12" type="box" size="0.0015 0.00716084522567 0.0425" pos="-6.6130927154e-18 -0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_left_base_wall_13" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_left_base_wall_14" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_left_base_wall_15" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="cup_right_upper" pos="-0.268112342816 -0.731892486515 0.7928" quat="0.999687516276 0 0 0.0249973959147">
+      <freejoint name="cup_right_upper_free" />
+      <geom name="cup_right_upper_bottom" type="cylinder" size="0.02925 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_right_upper_wall_0" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.02775 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_right_upper_wall_1" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_right_upper_wall_2" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_right_upper_wall_3" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_right_upper_wall_4" type="box" size="0.0015 0.00551981819479 0.0425" pos="1.69919743382e-18 0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_right_upper_wall_5" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_right_upper_wall_6" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_right_upper_wall_7" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_right_upper_wall_8" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.02775 3.39839486763e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_right_upper_wall_9" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_right_upper_wall_10" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_right_upper_wall_11" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_right_upper_wall_12" type="box" size="0.0015 0.00551981819479 0.0425" pos="-5.09759230145e-18 -0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_right_upper_wall_13" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_right_upper_wall_14" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_right_upper_wall_15" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="stack_region" pos="-0.0221964177723 -0.678741490839 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000033/source_scene.json b/150case/cases/stack_cups_ep000033/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..852b31acd51869942b0419084840431ced1f0d83
--- /dev/null
+++ b/150case/cases/stack_cups_ep000033/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.2741736606251473,
+        -0.7317142413557758,
+        0.7928
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.2681123428159907,
+        -0.731892486515028,
+        0.7928
+      ],
+      "size_m": [
+        0.0585,
+        0.0585,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.022196417772279882,
+        -0.6787414908387337,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000035/asset/definition.json b/150case/cases/stack_cups_ep000035/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc07a14d964e3d48c5626223cba5378a528c2310
--- /dev/null
+++ b/150case/cases/stack_cups_ep000035/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.3382491443402233,
+          -0.8183938986676956,
+          0.7978
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.28005856509800675,
+          -0.7258186612890571,
+          0.7928
+        ],
+        "size_m": [
+          0.065,
+          0.065,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.014509866690782913,
+          -0.6567232667109609,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000035/asset/manifest.json b/150case/cases/stack_cups_ep000035/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..6477394f701ee66ef2c83aa4628841b21c82cbb7
--- /dev/null
+++ b/150case/cases/stack_cups_ep000035/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_relation_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "fb11082f1d284e69416ab2789d9dbf77839b934ffa0b0c2e5209b44af8d08167"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000035/inputs/case.json b/150case/cases/stack_cups_ep000035/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..5036c952afd89e2042fb376a035de2c4ec279aad
--- /dev/null
+++ b/150case/cases/stack_cups_ep000035/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 35,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000035.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000035.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000035.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000035.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 35,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "0027d714c4b583e1d57e0da50afac43e2d4e26f94ca65677a70a9a7fea13ed49",
+  "source_rows": 386,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "7f3d983c3b7b70c28ad6a9e2b3ef7f29ff0e8e2e78cf02382d40ad6a3525b224"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000035/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000035/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000035/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
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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" />
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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" />
+    <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" />
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+    <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" />
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+  </asset>
+  <worldbody>
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+    <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" />
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+        <body name="astribot_torso_link_2" pos="-0.38 0 0" gravcomp="0">
+          <inertial pos="-0.23187 0.033333 0" quat="0.0851505 0.715372 -0.0840248 0.688427" mass="5.6183" diaginertia="0.0175257 0.0129591 0.00795872" />
+          <joint name="astribot_torso_joint_2" pos="0 0 0" axis="0 0 1" range="-2.35 0.0" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_2" mesh="astribot_torso_link_2" />
+          <body name="astribot_torso_link_3" pos="-0.39 0 0" gravcomp="0" quat="0.98962549373999498 0 0 0.14367109013253554">
+            <inertial pos="0.133333 -0.086872 0" quat="0.00834705 0.708024 0.00970003 0.706073" mass="0.49013" diaginertia="0.000380401 0.000365211 0.000222118" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_torso_link_3" />
+            <body name="astribot_torso_link_4" pos="0 0 0" quat="0.49969040546151655 0.50030740665236773 -0.49969440546076005 -0.50030740419236785" gravcomp="0">
+              <inertial pos="0.00476227 -4.56967e-05 0.242913" quat="0.999954 7.7949e-05 0.00906445 -0.00297427" mass="11.7741" diaginertia="0.0165787 0.0149043 0.0110611" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_base_link" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000035/source_config.json b/150case/cases/stack_cups_ep000035/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..674e945d0c81e7308797476de95096de0bbd513f
--- /dev/null
+++ b/150case/cases/stack_cups_ep000035/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000035",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000035",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000035/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_relation_repair_20260920/stack_cups/episode_000035/candidate_05/asset",
+  "engineered_task_asset_sha256": "72bbcdf4b2d1eb760c1186e6cdf70751104a9ec905076244494fea6946e10979",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000035/inputs/source_eef_ik/4f03cd69c8b5e77e497a/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.01587911201287302,
+      0.04021059873120422,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_relation_repair_20260920/stack_cups/episode_000035/candidate_05/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000035/source_eef_receipt.json b/150case/cases/stack_cups_ep000035/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..740e5bf9abcd19ef9def7bf6f1cfc39e9fec8be8
--- /dev/null
+++ b/150case/cases/stack_cups_ep000035/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "0027d714c4b583e1d57e0da50afac43e2d4e26f94ca65677a70a9a7fea13ed49",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
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+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
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+            [
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+          ],
+          "source_reference_from_grasp": [
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+              0.0,
+              0.0
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+            [
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+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
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+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
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+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
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+              -0.032787575259063215,
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+              1.0,
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+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
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+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.9785507819943924e-05,
+      "orientation_error_max_rad": 0.00012755410968229007,
+      "position_error_p95_m": 5.908285779166058e-06,
+      "max_joint_step_rad": 1.4497652051878096
+    },
+    "right": {
+      "position_error_max_m": 0.00017451901313039595,
+      "orientation_error_max_rad": 0.001928894616404685,
+      "position_error_p95_m": 4.828498361764239e-06,
+      "max_joint_step_rad": 0.09277880137116079
+    }
+  },
+  "wall_s": 0.3230380737222731,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000035/source_reference/scene.xml b/150case/cases/stack_cups_ep000035/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..344e4d3a193169184529f89d3851f61e39eed63f
--- /dev/null
+++ b/150case/cases/stack_cups_ep000035/source_reference/scene.xml
@@ -0,0 +1,194 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
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+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
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+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
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+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.29234487 -0.3168821515 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
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+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
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+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
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+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
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+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
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+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
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+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
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+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="cup_left_base" pos="0.33824914434 -0.818393898668 0.7978" quat="0.999800006667 0 0 -0.0199986666933">
+      <freejoint name="cup_left_base_free" />
+      <geom name="cup_left_base_bottom" type="cylinder" size="0.0375 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
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+      <geom name="cup_left_base_wall_1" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_left_base_wall_2" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_left_base_wall_3" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_left_base_wall_4" type="box" size="0.0015 0.00716084522567 0.0425" pos="2.20436423847e-18 0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_left_base_wall_5" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_left_base_wall_6" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_left_base_wall_7" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_left_base_wall_8" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.036 4.40872847693e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_left_base_wall_9" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_left_base_wall_10" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_left_base_wall_11" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_left_base_wall_12" type="box" size="0.0015 0.00716084522567 0.0425" pos="-6.6130927154e-18 -0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_left_base_wall_13" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_left_base_wall_14" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_left_base_wall_15" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="cup_right_upper" pos="-0.280058565098 -0.725818661289 0.7928" quat="0.999687516276 0 0 0.0249973959147">
+      <freejoint name="cup_right_upper_free" />
+      <geom name="cup_right_upper_bottom" type="cylinder" size="0.0325 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_right_upper_wall_0" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.031 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_right_upper_wall_1" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0286402655078 0.0118631864033 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_right_upper_wall_2" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0219203102168 0.0219203102168 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_right_upper_wall_3" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0118631864033 0.0286402655078 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_right_upper_wall_4" type="box" size="0.0015 0.00616628338877 0.0425" pos="1.89820253868e-18 0.031 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_right_upper_wall_5" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0118631864033 0.0286402655078 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_right_upper_wall_6" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0219203102168 0.0219203102168 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_right_upper_wall_7" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0286402655078 0.0118631864033 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
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+      <geom name="cup_right_upper_wall_9" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0286402655078 -0.0118631864033 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_right_upper_wall_10" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0219203102168 -0.0219203102168 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_right_upper_wall_11" type="box" size="0.0015 0.00616628338877 0.0425" pos="-0.0118631864033 -0.0286402655078 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_right_upper_wall_12" type="box" size="0.0015 0.00616628338877 0.0425" pos="-5.69460761604e-18 -0.031 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_right_upper_wall_13" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0118631864033 -0.0286402655078 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_right_upper_wall_14" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0219203102168 -0.0219203102168 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_right_upper_wall_15" type="box" size="0.0015 0.00616628338877 0.0425" pos="0.0286402655078 -0.0118631864033 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="stack_region" pos="-0.0145098666908 -0.656723266711 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000035/source_scene.json b/150case/cases/stack_cups_ep000035/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccb553b0c4de4a4c81b1b18933cc5c050e8854ee
--- /dev/null
+++ b/150case/cases/stack_cups_ep000035/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.3382491443402233,
+        -0.8183938986676956,
+        0.7978
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.28005856509800675,
+        -0.7258186612890571,
+        0.7928
+      ],
+      "size_m": [
+        0.065,
+        0.065,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.014509866690782913,
+        -0.6567232667109609,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000040/asset/definition.json b/150case/cases/stack_cups_ep000040/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f3424acaf5515303222384d24d63ae7e74216c2
--- /dev/null
+++ b/150case/cases/stack_cups_ep000040/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.18413159752561417,
+          -0.8169200428946406,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.22779996951417641,
+          -0.630192201525363,
+          0.7928
+        ],
+        "size_m": [
+          0.0585,
+          0.0585,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.018315138727591197,
+          -0.6562102644909686,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000040/asset/manifest.json b/150case/cases/stack_cups_ep000040/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..47ec39d9b3a59e57d716fa6604921d5bca5ab791
--- /dev/null
+++ b/150case/cases/stack_cups_ep000040/asset/manifest.json
@@ -0,0 +1,9 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "version": "v62_cup_geometry_repair",
+  "task_id": "dm7",
+  "files": {
+    "definition.json": "331b4f3659dd44bcb09fd0536337506fcd03297e7dff58603df61a99d553345c"
+  },
+  "status": "physical_candidate"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000040/inputs/case.json b/150case/cases/stack_cups_ep000040/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..600dd9ccc1c83634eaebbb283420b2f4d9b3007a
--- /dev/null
+++ b/150case/cases/stack_cups_ep000040/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 40,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000040.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000040.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000040.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000040.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 40,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "1ef1981a4736c5a61fb8d71370d08a70a538974c0979382c9b08701bdca647f1",
+  "source_rows": 372,
+  "source_fps": 30,
+  "sim1_success_required": false,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "8f4e6c2b1492205b39d5e3d42232572e9b9e6607039149e9dad0c9ea5b3cd58a"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000040/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000040/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000040/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
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+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000040/source_config.json b/150case/cases/stack_cups_ep000040/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1bf5c4047f9a2a2fe68c743ffdff71a51a37346
--- /dev/null
+++ b/150case/cases/stack_cups_ep000040/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000040",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000040",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000040/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000040/candidate_00/asset",
+  "engineered_task_asset_sha256": "79b392ea96afb3bb31573fdce7a70390f4fecee95dcac614221fcb247040fde2",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/stack_cups/episode_000040/inputs/source_eef_ik/203b6e9149b8c1d209da/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_cup_geometry_repair_20260920/stack_cups/episode_000040/candidate_00/physics",
+  "source_reference_kind": "certified_physics"
+}
diff --git a/150case/cases/stack_cups_ep000040/source_eef_receipt.json b/150case/cases/stack_cups_ep000040/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba34bdf04164d50eda9825dc74f90e4e87484f21
--- /dev/null
+++ b/150case/cases/stack_cups_ep000040/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "1ef1981a4736c5a61fb8d71370d08a70a538974c0979382c9b08701bdca647f1",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4629072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.28822398205599997
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.920527643292844e-05,
+      "orientation_error_max_rad": 9.95491959988519e-05,
+      "position_error_p95_m": 8.127478618936381e-06,
+      "max_joint_step_rad": 0.07728187759812521
+    },
+    "right": {
+      "position_error_max_m": 0.0001842028214163969,
+      "orientation_error_max_rad": 0.0021313411205607416,
+      "position_error_p95_m": 1.300737004743682e-05,
+      "max_joint_step_rad": 0.08502592823086474
+    }
+  },
+  "wall_s": 0.2902048830874264,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000040/source_reference/scene.xml b/150case/cases/stack_cups_ep000040/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6f9484f4217d9d8db499f2536092e9284906ac1c
--- /dev/null
+++ b/150case/cases/stack_cups_ep000040/source_reference/scene.xml
@@ -0,0 +1,194 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".001" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+    <mesh name="engineered_equivalent_worktable_top" vertex="-0.6 -0.4 -0.025 -0.6 -0.4 0.025 -0.6 0.4 -0.025 -0.6 0.4 0.025 0.6 -0.4 -0.025 0.6 -0.4 0.025 0.6 0.4 -0.025 0.6 0.4 0.025" />
+    <mesh name="engineered_equivalent_worktable_leg_0" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_1" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_2" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+    <mesh name="engineered_equivalent_worktable_leg_3" vertex="-0.025 -0.025 -0.35 -0.025 -0.025 0.35 -0.025 0.025 -0.35 -0.025 0.025 0.35 0.025 -0.025 -0.35 0.025 -0.025 0.35 0.025 0.025 -0.35 0.025 0.025 0.35" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="left_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.2882239821 -0.2870927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" solreflimit=".003 1" solimplimit=".99 .999 .001" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                    <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
+      <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
+      <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
+      <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
+      <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
+      <inertial pos="0.0 0.0 0.677272727272727" quat="0.0 0.7071067811865476 0.0 0.7071067811865476" mass="55.0" diaginertia="11.051516666666664 8.882682575757578 4.478682575757576" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+    <body name="cup_left_base" pos="0.184131597526 -0.816920042895 0.7928" quat="0.999800006667 0 0 -0.0199986666933">
+      <freejoint name="cup_left_base_free" />
+      <geom name="cup_left_base_bottom" type="cylinder" size="0.0375 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_left_base_wall_0" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.036 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_left_base_wall_1" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_left_base_wall_2" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_left_base_wall_3" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_left_base_wall_4" type="box" size="0.0015 0.00716084522567 0.0425" pos="2.20436423847e-18 0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_left_base_wall_5" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_left_base_wall_6" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_left_base_wall_7" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_left_base_wall_8" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.036 4.40872847693e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_left_base_wall_9" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_left_base_wall_10" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_left_base_wall_11" type="box" size="0.0015 0.00716084522567 0.0425" pos="-0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_left_base_wall_12" type="box" size="0.0015 0.00716084522567 0.0425" pos="-6.6130927154e-18 -0.036 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_left_base_wall_13" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0137766035651 -0.0332596631704 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_left_base_wall_14" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0254558441227 -0.0254558441227 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_left_base_wall_15" type="box" size="0.0015 0.00716084522567 0.0425" pos="0.0332596631704 -0.0137766035651 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="cup_right_upper" pos="-0.227799969514 -0.630192201525 0.7928" quat="0.999687516276 0 0 0.0249973959147">
+      <freejoint name="cup_right_upper_free" />
+      <geom name="cup_right_upper_bottom" type="cylinder" size="0.02925 0.0015" pos="0 0 -0.041" mass="0.012" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" />
+      <geom name="cup_right_upper_wall_0" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.02775 0 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0" />
+      <geom name="cup_right_upper_wall_1" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.392699081699" />
+      <geom name="cup_right_upper_wall_2" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 0.785398163397" />
+      <geom name="cup_right_upper_wall_3" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.1780972451" />
+      <geom name="cup_right_upper_wall_4" type="box" size="0.0015 0.00551981819479 0.0425" pos="1.69919743382e-18 0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.57079632679" />
+      <geom name="cup_right_upper_wall_5" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 1.96349540849" />
+      <geom name="cup_right_upper_wall_6" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.35619449019" />
+      <geom name="cup_right_upper_wall_7" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 2.74889357189" />
+      <geom name="cup_right_upper_wall_8" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.02775 3.39839486763e-18 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.14159265359" />
+      <geom name="cup_right_upper_wall_9" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.53429173529" />
+      <geom name="cup_right_upper_wall_10" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 3.92699081699" />
+      <geom name="cup_right_upper_wall_11" type="box" size="0.0015 0.00551981819479 0.0425" pos="-0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.31968989869" />
+      <geom name="cup_right_upper_wall_12" type="box" size="0.0015 0.00551981819479 0.0425" pos="-5.09759230145e-18 -0.02775 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 4.71238898038" />
+      <geom name="cup_right_upper_wall_13" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0106194652481 -0.0256376570272 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.10508806208" />
+      <geom name="cup_right_upper_wall_14" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0196222131779 -0.0196222131779 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.49778714378" />
+      <geom name="cup_right_upper_wall_15" type="box" size="0.0015 0.00551981819479 0.0425" pos="0.0256376570272 -0.0106194652481 0" mass="0.003" contype="4" conaffinity="15" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.56 0.38 0.19 1" euler="0 0 5.89048622548" />
+    </body>
+    <body name="stack_region" pos="-0.0183151387276 -0.656210264491 0.7518" quat="1 0 0 0">
+      <geom name="stack_region_geom" type="box" size="0.09 0.08 0.0015" pos="0 0 0" mass="0.001" contype="0" conaffinity="0" condim="4" friction="1 .01 .002" solref=".006 1" solimp=".95 .99 .001" rgba="0.05 0.05 0.05 0.35" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <quality shadowsize="2048" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000040/source_scene.json b/150case/cases/stack_cups_ep000040/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..20a3769bab7aff0a00923ceafe35a2e7d9e490dd
--- /dev/null
+++ b/150case/cases/stack_cups_ep000040/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.18413159752561417,
+        -0.8169200428946406,
+        0.7928
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.22779996951417641,
+        -0.630192201525363,
+        0.7928
+      ],
+      "size_m": [
+        0.0585,
+        0.0585,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.018315138727591197,
+        -0.6562102644909686,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000042/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000042/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000042/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <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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+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000042/source_reference/scene.xml b/150case/cases/stack_cups_ep000042/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6ce7663b6bd5bd31fc813c763b4146d35b4c9cc5
--- /dev/null
+++ b/150case/cases/stack_cups_ep000042/source_reference/scene.xml
@@ -0,0 +1,141 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".002" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.2882239821 -0.2870927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="1" rgba=".88 .88 .86 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <global offwidth="640" offheight="480" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000044/asset/definition.json b/150case/cases/stack_cups_ep000044/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0976478bb84c33829bb2b872be7256b6a39f130
--- /dev/null
+++ b/150case/cases/stack_cups_ep000044/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.19633365943750924,
+          -0.7529925495254547,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.3259456575628124,
+          -0.695916436656433,
+          0.7928
+        ],
+        "size_m": [
+          0.065,
+          0.065,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.0367703223709093,
+          -0.6781092670512299,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000044/asset/manifest.json b/150case/cases/stack_cups_ep000044/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f6d0c75d3b47c51cf8d1d166834a3f7f4b8695e
--- /dev/null
+++ b/150case/cases/stack_cups_ep000044/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "task_id": "dm7",
+  "version": "v0004",
+  "files": {
+    "definition.json": "8812b1166fe7ca4990eaff7d1800896099fb35d90b048a8d1e6e2d6e81325e75"
+  },
+  "status": "pending_source_physics",
+  "dimension_prior": "approximate visual scale bounded candidate, not measured geometry"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000044/inputs/case.json b/150case/cases/stack_cups_ep000044/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbb7ab430db2c69d427218754a737b4c43aa22f3
--- /dev/null
+++ b/150case/cases/stack_cups_ep000044/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 44,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000044.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000044.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000044.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000044.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 44,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "3e3adbc11d0fa2b76631d51503fc0f32014d4247cccc80820118398973d2401e",
+  "source_rows": 307,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "a365fdeddb9508d760bd2b1b28f2623d4c4cd5680354fcea987d8dce0487c161"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000044/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000044/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000044/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+      <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" />
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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_dark_mechanism" mesh="astribot_head_link_1" />
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+                  <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_white_shell" mesh="astribot_arm_link_6" />
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+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
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+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
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+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
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+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
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+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
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+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
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+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000044/source_config.json b/150case/cases/stack_cups_ep000044/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3f0de9150874ad82f777a350a1e6e54a91aa4c8
--- /dev/null
+++ b/150case/cases/stack_cups_ep000044/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000044",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000044",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000044/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/assets/rssr_cobot_sim1_verified_v60_20260920/stack_cups/v0001",
+  "engineered_task_asset_sha256": "5d98d3cf8b81c6dd5859a7350e5178178e82d02d5f5e25f2977eeb391935fc8f",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_cups/episode_000040/inputs/source_eef_ik/95174871fa9b1da0c6e2/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000044/source_reference_geometry",
+  "source_reference_kind": "episode_geometry_kinematic_reference_v1"
+}
diff --git a/150case/cases/stack_cups_ep000044/source_eef_receipt.json b/150case/cases/stack_cups_ep000044/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3b4b1f4690a79d4d7808ef8532f9b96954e3513
--- /dev/null
+++ b/150case/cases/stack_cups_ep000044/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "eec764485521c2afeeeac27a51350b0ba5155e63cceb805086d05cca2abb277c",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4629072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.28822398205599997
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.920527643292844e-05,
+      "orientation_error_max_rad": 9.95491959988519e-05,
+      "position_error_p95_m": 8.127478618936381e-06,
+      "max_joint_step_rad": 0.07728187759812521
+    },
+    "right": {
+      "position_error_max_m": 0.0001842028214163969,
+      "orientation_error_max_rad": 0.0021313411205607416,
+      "position_error_p95_m": 1.300737004743682e-05,
+      "max_joint_step_rad": 0.08502592823086474
+    }
+  },
+  "wall_s": 0.2943645901978016,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000044/source_reference/scene.xml b/150case/cases/stack_cups_ep000044/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6ce7663b6bd5bd31fc813c763b4146d35b4c9cc5
--- /dev/null
+++ b/150case/cases/stack_cups_ep000044/source_reference/scene.xml
@@ -0,0 +1,141 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".002" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.2882239821 -0.2870927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="1" rgba=".88 .88 .86 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <global offwidth="640" offheight="480" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000044/source_scene.json b/150case/cases/stack_cups_ep000044/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..5736111ae7e21d2e5cd93f8d61b18bd40e7d5107
--- /dev/null
+++ b/150case/cases/stack_cups_ep000044/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.19413159752561418,
+        -0.8269200428946406,
+        0.7928
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.22779996951417641,
+        -0.630192201525363,
+        0.7928
+      ],
+      "size_m": [
+        0.065,
+        0.065,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.018315138727591197,
+        -0.6562102644909686,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000046/asset/definition.json b/150case/cases/stack_cups_ep000046/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0976478bb84c33829bb2b872be7256b6a39f130
--- /dev/null
+++ b/150case/cases/stack_cups_ep000046/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.19633365943750924,
+          -0.7529925495254547,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.3259456575628124,
+          -0.695916436656433,
+          0.7928
+        ],
+        "size_m": [
+          0.065,
+          0.065,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.0367703223709093,
+          -0.6781092670512299,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000046/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000046/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000046/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
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+    <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" />
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+  </asset>
+  <worldbody>
+    <light pos="0 0 2.0" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" contype="2" conaffinity="13" rgba=".48 .50 .52 1" />
+    <camera name="human" pos="2.107 2.011 1.6" xyaxes="-0.001 1.000 0.000 -0.277 -0.000 0.961" />
+    <body name="chassis_base" pos="-0.0 0.0 0.097" euler="0 0 -1.57">
+      <inertial pos="-0.0076187 -0.0020711 0.013725" quat="0.019455 0.708067 -0.0183173 0.70564" mass="6.7123" diaginertia="0.148701 0.08243 0.079229" />
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+      <site name="astribot_chassis_imu_site" pos="0 0 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">
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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" />
+            <body name="astribot_torso_link_4" pos="0 0 0" quat="0.49969040546151655 0.50030740665236773 -0.49969440546076005 -0.50030740419236785" gravcomp="0">
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+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_torso_link_4" mesh="astribot_torso_link_4" />
+              <geom pos="0 0 0.46765" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_black_neck" mesh="astribot_head_base_link" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_base_link" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_base_link" />
+              <body name="astribot_head_link_1" pos="0 0 0.46765" gravcomp="0">
+                <inertial pos="0.0744479 0.0340434 -0.148896" quat="0.710346 -0.0335656 0.0294335 0.702436" mass="0.18685" diaginertia="4.79716e-05 4.56699e-05 3.77084e-05" />
+                <joint name="astribot_head_joint_1" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_dark_mechanism" mesh="astribot_head_link_1" />
+                <body name="astribot_head_link_2" pos="0 0 0" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                  <camera name="head_rgbd" pos="0.0603 -0.2139 -0.0277" quat="0.7025 -0.0295 -0.7100 -0.0135" fovy="51.4175" />
+                  <body name="astribot_head_camera_base_link" pos="0.09 0.0 0.08" quat="0.0000 0.0000 -1.0 0.0" gravcomp="0">
+                </body>
+                  <inertial pos="0.00705824 -0.144726 -0.00061724" quat="0.696314 0.714797 -0.0643815 -0.00814535" mass="0.970124" diaginertia="0.00559994 0.00544762 0.00147305" />
+                  <joint name="astribot_head_joint_2" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_head_link_2" mesh="astribot_head_link_2" />
+                </body>
+              </body>
+              <body name="astribot_arm_left_link_1" pos="-2.29129e-09 0.150002 0.399354" quat="0.579228 -0.40558 -0.40558 -0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_left_joint_1" pos="0 0 0" axis="0 0 1" range="-3.087 1.517" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_left_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 0.0542806" quat="0.979046 0.195867 -0.0151095 -0.0536387" mass="1.60392" diaginertia="0.00361844 0.00305818 0.00149762" />
+                  <joint name="astribot_arm_left_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_left_link_2" />
+                  <body name="astribot_arm_left_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_left_joint_3" pos="0 0 0" axis="0 0 1" range="-3.08 1.517" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_left_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_left_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_left_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_left_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_left_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_left_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_left_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_left_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_left_tool" pos="0 -0.15 0" />
+                            <body name="arm_left_tool_cam" pos="0 -0.15 0">
+                              <camera name="left_wrist_rgbd" pos="0.011420996159648984 0.058882000224149605 0.044260118849329295" quat="0.703108425353722 -0.7109134990656752 -0.009037420129074155 -0.012604129490710232" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_left" />
+                            <body name="astribot_arm_left_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_left_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_left_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_left_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_left_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_left_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_left_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_left_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_left_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_left_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_left_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_left_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_left_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_left_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_left_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_left_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_left_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000046/source_eef_receipt.json b/150case/cases/stack_cups_ep000046/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3b4b1f4690a79d4d7808ef8532f9b96954e3513
--- /dev/null
+++ b/150case/cases/stack_cups_ep000046/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "eec764485521c2afeeeac27a51350b0ba5155e63cceb805086d05cca2abb277c",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4629072497566929
+            ],
+            [
+              0.032787575259063215,
+              0.999462342916746,
+              0.0,
+              -0.28822398205599997
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+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.920527643292844e-05,
+      "orientation_error_max_rad": 9.95491959988519e-05,
+      "position_error_p95_m": 8.127478618936381e-06,
+      "max_joint_step_rad": 0.07728187759812521
+    },
+    "right": {
+      "position_error_max_m": 0.0001842028214163969,
+      "orientation_error_max_rad": 0.0021313411205607416,
+      "position_error_p95_m": 1.300737004743682e-05,
+      "max_joint_step_rad": 0.08502592823086474
+    }
+  },
+  "wall_s": 0.2943645901978016,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000046/source_reference/scene.xml b/150case/cases/stack_cups_ep000046/source_reference/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6ce7663b6bd5bd31fc813c763b4146d35b4c9cc5
--- /dev/null
+++ b/150case/cases/stack_cups_ep000046/source_reference/scene.xml
@@ -0,0 +1,141 @@
+<mujoco model="rssr_source_proxy">
+  <compiler angle="radian" />
+  <option timestep=".002" integrator="implicitfast" iterations="100" tolerance="1e-9" />
+  <asset>
+    <mesh name="base_link" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/base_link.STL" />
+    <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
+    <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
+    <mesh name="link3" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link3.STL" />
+    <mesh name="link4" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link4.STL" />
+    <mesh name="link5" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link5.STL" />
+    <mesh name="link6" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link6.STL" />
+    <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
+    <mesh name="link7" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link7.STL" />
+    <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
+  </asset>
+  <worldbody>
+    <body name="left_base" pos="0.3082239821 -0.3429072498 0.7247380123" quat="0.7071067812 0 0 -0.7071067812">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="left_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="left_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="left_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="left_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="left_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="left_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="left_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="left_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="left_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="left_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="left_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="left_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="left_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="left_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="left_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="left_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  </body>
+                  <body name="left_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="left_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="left_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  </body>
+                  <site name="arm_left_tool" pos="0 0 .133669403578" />
+                  <camera name="left_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_base" pos="-0.2882239821 -0.2870927502 0.7447380123" quat="0.7186054464 0 0 -0.6954180127">
+      <geom type="mesh" rgba=".09 .10 .11 1" mesh="base_link" name="right_base_link_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+      <body name="right_link1" pos="0 0 0.123">
+        <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.486797 0.49897 -0.50059 0.513292" mass="0.215052" diaginertia="0.000116369 0.00010964 9.9555e-05" />
+        <joint name="right_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="2" />
+        <geom type="mesh" rgba=".09 .10 .11 1" mesh="link1" name="right_link1_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+        <body name="right_link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+          <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.0189031 0.705267 -0.0456298 0.707219" mass="0.463914" diaginertia="0.00104423 0.0010069 0.000207486" />
+          <joint name="right_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="2" />
+          <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="right_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+          <body name="right_link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+            <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.528127 0.491307 -0.505056 0.473938" mass="0.219942" diaginertia="0.000201238 0.000190068 7.08709e-05" />
+            <joint name="right_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="2" />
+            <geom type="mesh" rgba=".09 .10 .11 1" mesh="link3" name="right_link3_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+            <body name="right_link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.512749 0.48584 0.481646 0.518714" mass="0.131814" diaginertia="5.1333e-05 4.14831e-05 3.96892e-05" />
+              <joint name="right_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="2" />
+              <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="right_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+              <body name="right_link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.492375 0.506639 0.49332 0.507463" mass="0.134101" diaginertia="5.27778e-05 4.60364e-05 4.10994e-05" />
+                <joint name="right_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="2" />
+                <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="right_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                <body name="right_link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="-0.000179422 7.72241e-05 0.0305765" quat="0.498967 0.497649 -0.502223 0.501147" mass="0.152309" diaginertia="0.000119759 0.000110059 4.99704e-05" />
+                  <joint name="right_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="2" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="right_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="right_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  <body name="right_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 .0475" damping="10" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link7" name="right_link7_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  </body>
+                  <body name="right_link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
+                    <joint name="right_joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-.0475 0" damping="10" />
+                    <geom type="mesh" rgba=".09 .10 .11 1" mesh="link8" name="right_link8_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
+                  </body>
+                  <site name="arm_right_tool" pos="0 0 .133669403578" />
+                  <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="1" rgba=".88 .88 .86 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" />
+    </body>
+    <geom name="floor" type="plane" size="3 3 .1" rgba=".5 .5 .5 1" contype="2" conaffinity="13" />
+    <camera name="rssr_head" pos="0 -0.32 1.45" quat="-0 0 0.273742659 0.9618029718" fovy="55" />
+    <light pos="0 -.7 2.5" dir="0 0 -1" diffuse=".7 .7 .7" />
+  </worldbody>
+  <actuator>
+    <position name="left_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="left_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="left_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="left_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="left_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="left_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="left_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="left_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="left_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="left_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="left_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="right_joint1" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="right_joint2" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="right_joint3" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="right_joint4" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="right_joint5" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="right_joint6" kp="1000" user="1" forcelimited="true" forcerange="-100 100" />
+    <position name="right_joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="right_joint7" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+    <position name="right_joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="right_joint8" kp="1000" user="1" forcelimited="true" forcerange="-12 12" />
+  </actuator>
+  <visual>
+    <global offwidth="640" offheight="480" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000047/asset/definition.json b/150case/cases/stack_cups_ep000047/asset/definition.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0976478bb84c33829bb2b872be7256b6a39f130
--- /dev/null
+++ b/150case/cases/stack_cups_ep000047/asset/definition.json
@@ -0,0 +1,186 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "scene": {
+    "schema": "rssr.scene.v2",
+    "task_id": "dm7",
+    "objects": [
+      {
+        "id": "cup_left_base",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          0.19633365943750924,
+          -0.7529925495254547,
+          0.7928
+        ],
+        "size_m": [
+          0.075,
+          0.075,
+          0.085
+        ],
+        "yaw_rad": -0.04,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.18,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "cup_right_upper",
+        "shape": "cup",
+        "role": "object",
+        "color": "brown",
+        "position_m": [
+          -0.3259456575628124,
+          -0.695916436656433,
+          0.7928
+        ],
+        "size_m": [
+          0.065,
+          0.065,
+          0.085
+        ],
+        "yaw_rad": 0.05,
+        "rgba": [
+          0.56,
+          0.38,
+          0.19,
+          1.0
+        ],
+        "mobility": "free",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.84,
+          0.55
+        ],
+        "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+        "mass_kg": 0.06,
+        "wall_m": 0.003
+      },
+      {
+        "id": "stack_region",
+        "shape": "region",
+        "role": "target_region",
+        "color": "black",
+        "position_m": [
+          -0.0367703223709093,
+          -0.6781092670512299,
+          0.7517999999999999
+        ],
+        "size_m": [
+          0.18,
+          0.16,
+          0.003
+        ],
+        "yaw_rad": 0.0,
+        "rgba": [
+          0.05,
+          0.05,
+          0.05,
+          0.35
+        ],
+        "mobility": "static",
+        "parent_id": null,
+        "support_id": "table",
+        "head_center": [
+          0.516,
+          0.608
+        ],
+        "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+        "mass_kg": 0.001
+      }
+    ],
+    "bindings": {
+      "targets": [
+        "cup_left_base",
+        "cup_right_upper"
+      ],
+      "containers": [],
+      "excluded": [],
+      "particles": [],
+      "target_region": "stack_region",
+      "articulation": null,
+      "stack_hands": {
+        "base": "left",
+        "upper": "right"
+      }
+    }
+  },
+  "anchors": [
+    {
+      "object": "cup_right_upper",
+      "hand": "right",
+      "mode": "center"
+    },
+    {
+      "object": "cup_left_base",
+      "hand": "left",
+      "mode": "center"
+    }
+  ],
+  "grasp_depth_m": 0.018,
+  "tapered_baskets": {},
+  "cabinet_open_face": null,
+  "box_collision": {
+    "worktable": "convex"
+  },
+  "release_goals": [
+    {
+      "receiver": "stack_region",
+      "releases": [
+        {
+          "object": "cup_left_base",
+          "hand": "left"
+        }
+      ]
+    }
+  ],
+  "engineering_changes": [
+    "Two free cubes and fixed target marker; order-of-placement predicate retained.",
+    "Initial receiver XY is fitted to the union of this episode's FK-predicted release footprints. This is a rigid-hold layout hypothesis; full contact dynamics must establish success. Geometry and success thresholds are unchanged.",
+    "RSSR Cobot task asset v1: approximate tabletop scene initialized from the Real1 first frame and EEF/action trajectory; geometry is frozen for this run.",
+    "Original dataset task text: Stack_the_cups_together.",
+    "Two cup instances use box collision proxies; object identity and stack predicate are retained.",
+    "Physical cup shells and cup-nesting contract replace the old box proxies; upper shell diameter is reduced to represent paper-cup taper, not a measured dimension.",
+    "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
+    "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
+  ],
+  "source_collision_adapter": "finite_flat_pads_v1",
+  "articulation_limit_solver": {
+    "solreflimit": [
+      0.0021,
+      1.0
+    ],
+    "solimplimit": [
+      0.999,
+      0.9999,
+      0.001
+    ]
+  },
+  "allow_instance_fields": [
+    "position_m",
+    "yaw_rad",
+    "roll_pitch_rad"
+  ],
+  "success_claim": false,
+  "source_case": "huggingface://HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/episode_000000",
+  "round_contact_model": {
+    "revision": "radius_scaled_round_rolling_v1",
+    "radius_ratio": 0.01,
+    "calibrated": false
+  },
+  "round_table_dispatch": "round_analytic_table_dispatch_v1"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000047/asset/manifest.json b/150case/cases/stack_cups_ep000047/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f6d0c75d3b47c51cf8d1d166834a3f7f4b8695e
--- /dev/null
+++ b/150case/cases/stack_cups_ep000047/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "task_id": "dm7",
+  "version": "v0004",
+  "files": {
+    "definition.json": "8812b1166fe7ca4990eaff7d1800896099fb35d90b048a8d1e6e2d6e81325e75"
+  },
+  "status": "pending_source_physics",
+  "dimension_prior": "approximate visual scale bounded candidate, not measured geometry"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000047/inputs/case.json b/150case/cases/stack_cups_ep000047/inputs/case.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7e77c7a7096c12ee7877f65e3f15f524863f0e7
--- /dev/null
+++ b/150case/cases/stack_cups_ep000047/inputs/case.json
@@ -0,0 +1,23 @@
+{
+  "case_id": "cobot_stack_cups_ep000000",
+  "task_id": "dm7",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "source_episode": 47,
+  "source_parquet": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/data/chunk-000/episode_000047.parquet",
+  "source_videos": {
+    "head": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_high/episode_000047.mp4",
+    "left_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000047.mp4",
+    "right_wrist": "/pfs/yichen/r2r/HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000047.mp4"
+  },
+  "dataset_repo": "HITdongdong/piper_dual_stack_cups_two_eef_xyz3d_video",
+  "dataset_episode": 47,
+  "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
+  "source_action_sha256": "06799ab45fd71b0d1e3624222bbac2eb4037bf37b559a8a55b67040e4bbabf78",
+  "source_rows": 320,
+  "source_fps": 30,
+  "sim1_success_required": true,
+  "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/stack_cups/v0001",
+  "gripper_adapter": "HF aperture metres -> legacy normalized opening: clip(width/0.105*1.05,0,1.05)",
+  "source_parquet_sha256": "4dfea5dab63f535535f6d4be06066130d2550744d79af0cfa3ed2f301613c2b2"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000047/inputs/sim2_robot_only_scene.xml b/150case/cases/stack_cups_ep000047/inputs/sim2_robot_only_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acd37140098f8ecd97b356bff99fe329fef05e68
--- /dev/null
+++ b/150case/cases/stack_cups_ep000047/inputs/sim2_robot_only_scene.xml
@@ -0,0 +1,457 @@
+<mujoco model="astribot_s1">
+  <compiler angle="radian" meshdir="" />
+  <option impratio="100" integrator="implicit" timestep=".002" viscosity="0.1" gravity="0 0 -9.81" solver="Newton" tolerance="1e-12" iterations="100" />
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="500" height="500" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  </asset>
+  <default class="main">
+    <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
+    <joint limited="true" axis="0 0 1" />
+    <general ctrllimited="true" forcelimited="true" ctrlrange="-6.2831 6.2831" dyntype="none" biastype="affine" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="collision">
+      <geom type="capsule" group="3" />
+      <default class="eef_collision">
+        <geom type="cylinder" />
+      </default>
+    </default>
+    <default class="Widget">
+      <geom contype="0" conaffinity="0" group="2" rgba="1 1 1 1" />
+    </default>
+    <default class="size3">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-265 265" />
+    </default>
+    <default class="size2">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-142 142" />
+    </default>
+    <default class="size1">
+      <joint armature="0.1" damping="10" />
+      <general forcerange="-20 20" />
+    </default>
+    <default class="free">
+      <joint type="free" limited="false" armature="0" damping="0" />
+    </default>
+    <default class="torso_size1">
+      <joint limited="true" axis="0 0 1" armature="0.1" damping="10" />
+      <general ctrllimited="true" forcelimited="true" forcerange="-465 465" ctrlrange="-3.14 3.15" dyntype="none" biastype="affine" />
+    </default>
+    <default class="chassis_size1">
+      <joint limited="false" axis="0 0 1" armature="0.0" damping="10" />
+      <general ctrllimited="false" forcelimited="false" forcerange="-5000 5000" ctrlrange="-5000 5000" dyntype="none" biastype="affine" />
+    </default>
+    <default class="gripper_size1">
+      <joint limited="true" axis="0 0 1" armature="0.02" damping="0.3" />
+      <general ctrllimited="true" forcelimited="true" ctrlrange="0 1.14 " biastype="affine" forcerange="-10 10" gainprm="100" biasprm="0 -100 -4" />
+    </default>
+  </default>
+  <asset>
+    <texture name="T_torso_base_link" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_base_link.png" />
+    <texture name="T_torso_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_2.png" />
+    <texture name="T_torso_link_4" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_torso_link_4.png" />
+    <texture name="T_head_link_2" type="2d" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/textures/astribot_head_link_2.png" />
+    <material name="M_torso_base_link" texture="T_torso_base_link" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_2" texture="T_torso_link_2" specular="0.4" shininess="0.3" />
+    <material name="M_torso_link_4" texture="T_torso_link_4" specular="0.5" shininess="0.3" />
+    <material name="M_head_link_2" texture="T_head_link_2" specular="0.3" shininess="0.2" />
+    <material name="M_white_shell" rgba="0.973 0.976 0.984 1" specular="0.5" shininess="0.3" />
+    <material name="M_black_neck" rgba="0.098 0.098 0.11 1" specular="0.1" shininess="0.05" />
+    <material name="M_dark_mechanism" rgba="0.216 0.216 0.235 1" specular="0.3" shininess="0.2" />
+    <material name="M_rubber_wheel" rgba="0.149 0.149 0.157 1" specular="0.05" shininess="0.02" />
+    <mesh name="astribot_torso_base_link" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_base_link.obj" />
+    <mesh name="astribot_torso_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_2.obj" />
+    <mesh name="astribot_torso_link_4" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_torso_link_4.obj" />
+    <mesh name="astribot_head_link_2" file="/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913/implementation_revisions/physical_backend_preflight_16/recovered_assets/urdf/astribot_s1_urdf/meshes/obj/astribot_head_link_2.obj" />
+    <mesh name="wheel_RF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RF_Link.STL" />
+    <mesh name="wheel_LF_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LF_Link.STL" />
+    <mesh name="wheel_RR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_RR_Link.STL" />
+    <mesh name="wheel_LR_Link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/wheel_LR_Link.STL" />
+    <mesh name="astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="astribot_head_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_link_1.STL" />
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+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_left_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_left_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_left_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
+                <inertial pos="-0.0545455 -0.0306519 -0.0291245" quat="0.799744 0.00150164 -0.00673322 0.600302" mass="0.659304" diaginertia="0.000653094 0.000647485 0.000501341" />
+                <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
+                <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                  <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
+                  <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
+                  <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
+                    <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
+                    <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
+                    <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                      <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
+                      <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
+                      <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+                        <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
+                        <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
+                        <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
+                          <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
+                          <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
+                          <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
+                            <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
+                            <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
+                            <site name="arm_right_tool" pos="0 -0.15 0" />
+                            <body name="arm_right_tool_cam" pos="0 -0.15 0">
+                              <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
+                            </body>
+                            <site name="force_torque_sensor_right" />
+                            <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
+                              <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
+                                <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
+                                <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
+                                <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
+                                  <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                    <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
+                                    <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                  <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
+                                  <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                </body>
+                                <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
+                                  <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
+                                  <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
+                                    <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
+                                    <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
+                                    <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
+                                    <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
+                                  </body>
+                                </body>
+                                <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
+                                  <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
+                                  <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
+                                  <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
+                                </body>
+                              </body>
+                            </body>
+                            <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                          </body>
+                          <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                        </body>
+                        <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                      </body>
+                      <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                    </body>
+                    <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                  </body>
+                  <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+                </body>
+                <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              </body>
+              <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+              <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+            </body>
+            <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+          </body>
+          <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+        </body>
+        <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+      </body>
+      <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+    <body name="worktable" pos="0.0 -0.75 0">
+      <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+      <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
+    </body>
+  <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
+  <sensor>
+    <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
+    <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
+  </sensor>
+  <actuator>
+    <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
+    <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
+  </actuator>
+  <actuator>
+    <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
+    <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_left_split">
+      <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
+    <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
+    <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
+    <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
+    <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <actuator>
+    <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
+    <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
+    <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
+    <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
+  </actuator>
+  <sensor>
+    <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
+    <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
+    <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
+    <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
+  </sensor>
+  <tendon>
+    <fixed name="gripper_right_split">
+      <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
+      <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
+    </fixed>
+  </tendon>
+  <actuator>
+    <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
+  </actuator>
+  <contact>
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
+    <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
+    <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
+    <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
+    <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
+  </contact>
+  <equality>
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
+  </equality>
+  <asset>
+    <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
+    <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
+    <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
+    <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
+    <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
+    <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
+    <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
+    <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
+    <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
+    <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
+    <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
+    <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
+    <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
+    <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
+    <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
+    <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
+  </asset>
+  <equality>
+    <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
+  </equality>
+<visual><global offwidth="640" offheight="480" /></visual></mujoco>
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000047/source_config.json b/150case/cases/stack_cups_ep000047/source_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b827c4013bcacc3127e4f727d9267417ba733b9
--- /dev/null
+++ b/150case/cases/stack_cups_ep000047/source_config.json
@@ -0,0 +1,72 @@
+{
+  "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
+  "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
+  "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
+  "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
+  "ffprobe": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffprobe",
+  "seed": 20260919,
+  "fps": 30,
+  "k3_concurrency": 15,
+  "k3_timeout_s": 900,
+  "k3_attempts_per_decision": 2,
+  "object_decision_max_tokens": 16384,
+  "k3_reasoning_effort": "low",
+  "max_scene_agent_rounds": 0,
+  "max_camera_agent_rounds": 0,
+  "max_target_agent_rounds": 12,
+  "camera_alignment": {
+    "enabled": false
+  },
+  "k3_native_schema_stages": [],
+  "retarget_experience_probe": false,
+  "operator_admission_policy": "two_demonstrations_structural_families_v1",
+  "llm_api": "responses",
+  "interaction_revision": "eef_source_v1",
+  "learning_revision": "v17",
+  "library_lifecycle": "evidence_revision_v1",
+  "fixed_camera_config": "/pfs/yichen/r2r/work/rssr_asset15_runtime_v6_20260917/fixed_camera_config.json",
+  "source_coupled_repair": false,
+  "source_ik_failure_policy": "strict",
+  "initial_layout_policy": "versioned_asset",
+  "case_id": "stack_cups_ep000047",
+  "task_family": "dm7",
+  "task": "Stack_the_cups_together.",
+  "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000047",
+  "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000047/inputs",
+  "batch_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "api_budget_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921",
+  "mode": "infer",
+  "source_task_success_required": false,
+  "scene_backend": "rssr.scene.v2",
+  "max_source_agent_rounds": 0,
+  "max_k3_requests": null,
+  "max_video_creates": 0,
+  "run_real2": false,
+  "stage_protocol": "rssr.stage.v1",
+  "autonomous_recovery": true,
+  "k3_max_attempts_per_decision_total": 6,
+  "engineered_task_asset": "/pfs/yichen/r2r/assets/rssr_cobot_sim1_verified_v60_20260920/stack_cups/v0001",
+  "engineered_task_asset_sha256": "5d98d3cf8b81c6dd5859a7350e5178178e82d02d5f5e25f2977eeb391935fc8f",
+  "direct_target_from_original": false,
+  "action_centered_scene": true,
+  "autofit_grasp_targets": false,
+  "runtime_root": "/pfs/yichen/r2r/work/rssr_runtime_v74_action_centered_20260921",
+  "mujoco_version_expected": "2.3.7",
+  "agent_revision": "v74_action_centered",
+  "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_all150_v60r3_20260920/stack_cups/episode_000040/inputs/source_eef_ik/95174871fa9b1da0c6e2/receipt.json",
+  "source_base_world_shift_m": {
+    "left": [
+      0,
+      0,
+      -0.06
+    ],
+    "right": [
+      0.02,
+      0.07,
+      -0.04
+    ]
+  },
+  "source_success_gate": true,
+  "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/stack_cups_ep000047/source_reference_geometry",
+  "source_reference_kind": "episode_geometry_kinematic_reference_v1"
+}
diff --git a/150case/cases/stack_cups_ep000047/source_eef_receipt.json b/150case/cases/stack_cups_ep000047/source_eef_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3b4b1f4690a79d4d7808ef8532f9b96954e3513
--- /dev/null
+++ b/150case/cases/stack_cups_ep000047/source_eef_receipt.json
@@ -0,0 +1,325 @@
+{
+  "identity": {
+    "revision": "source_eef_to_piper_joints_v1",
+    "source_sha256": "eec764485521c2afeeeac27a51350b0ba5155e63cceb805086d05cca2abb277c",
+    "contract": {
+      "version": "source_stack_registration_v1_fixed_synthetic_table_v1",
+      "units": "m",
+      "rotation_convention": "right_handed_rotation_matrix",
+      "world_from_task": [
+        [
+          2.220446049250313e-16,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          -1.0,
+          2.220446049250313e-16,
+          -0.0,
+          -0.75
+        ],
+        [
+          -0.0,
+          0.0,
+          1.0,
+          0.75
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "chains": {
+        "left": {
+          "task_from_source_base": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.40709275024330716
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.308223982056
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.025261987701879457
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        },
+        "right": {
+          "task_from_source_base": [
+            [
+              0.999462342916746,
+              -0.032787575259063215,
+              0.0,
+              -0.4629072497566929
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+            [
+              0.032787575259063215,
+              0.999462342916746,
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+              -0.28822398205599997
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              -0.00526198770187946
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "source_reference_from_grasp": [
+            [
+              -0.0,
+              -1.0,
+              0.0,
+              0.0
+            ],
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ],
+            [
+              -0.0,
+              0.0,
+              1.0,
+              0.13366940357801368
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "target_site_from_grasp": [
+            [
+              1.0,
+              -8.180830114382886e-38,
+              0.0,
+              0.0
+            ],
+            [
+              -2.720210018003498e-29,
+              2.6794896468285145e-08,
+              -0.9999999999999997,
+              0.0
+            ],
+            [
+              8.106857591877872e-37,
+              0.9999999999999997,
+              2.6794896468285145e-08,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ]
+        }
+      },
+      "source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
+      "source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
+      "source_model_hashes": {
+        "source": "3c2e4bf29dd7fc80acfbb056ad711548bdd57f5c26f2e0fcb43f179b8e02f726",
+        "target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
+        "gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
+      },
+      "source_registration_cross_validation_p90_mm": 14.676522765629208,
+      "synthetic_placement": {
+        "table_size_m": [
+          1.2,
+          0.8,
+          0.05
+        ],
+        "table_top_world_m": [
+          0,
+          -0.75,
+          0.75
+        ],
+        "source_table_height_gauge": {
+          "virtual_cube_side_m": 0.048969959046310185,
+          "table_z_in_source_left_base_m": -0.03473801229812054,
+          "assumptions": [
+            "source bases are coplanar and share +Z up",
+            "virtual grasp origin approximates cube centre at both releases",
+            "median release-height difference approximates cube side"
+          ],
+          "not_identified_from_xy_data": true,
+          "not_hardware_calibration": true
+        },
+        "placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
+      },
+      "unknowns": [
+        "measured source table/base extrinsics",
+        "actual source and target contact TCP origins",
+        "whether source mounts are identical across task recordings",
+        "source object poses and task dynamics"
+      ],
+      "hardware_ready": false,
+      "task_goal_or_object_success_verified": false,
+      "geometry_fields_editable": false,
+      "frozen_before_target_ik_test": true
+    },
+    "piper_joint_ranges": {
+      "left_joint1": [
+        -2.618,
+        2.168
+      ],
+      "left_joint2": [
+        0.0,
+        3.14
+      ],
+      "left_joint3": [
+        -2.967,
+        0.0
+      ],
+      "left_joint4": [
+        -1.745,
+        1.745
+      ],
+      "left_joint5": [
+        -1.22,
+        1.22
+      ],
+      "left_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "left_joint7": [
+        0.0,
+        0.0475
+      ],
+      "left_joint8": [
+        -0.0475,
+        0.0
+      ],
+      "right_joint1": [
+        -2.618,
+        2.168
+      ],
+      "right_joint2": [
+        0.0,
+        3.14
+      ],
+      "right_joint3": [
+        -2.967,
+        0.0
+      ],
+      "right_joint4": [
+        -1.745,
+        1.745
+      ],
+      "right_joint5": [
+        -1.22,
+        1.22
+      ],
+      "right_joint6": [
+        -2.0944,
+        2.0944
+      ],
+      "right_joint7": [
+        0.0,
+        0.0475
+      ],
+      "right_joint8": [
+        -0.0475,
+        0.0
+      ]
+    }
+  },
+  "tracking": {
+    "left": {
+      "position_error_max_m": 1.920527643292844e-05,
+      "orientation_error_max_rad": 9.95491959988519e-05,
+      "position_error_p95_m": 8.127478618936381e-06,
+      "max_joint_step_rad": 0.07728187759812521
+    },
+    "right": {
+      "position_error_max_m": 0.0001842028214163969,
+      "orientation_error_max_rad": 0.0021313411205607416,
+      "position_error_p95_m": 1.300737004743682e-05,
+      "max_joint_step_rad": 0.08502592823086474
+    }
+  },
+  "wall_s": 0.2943645901978016,
+  "source_action_modified": false,
+  "source_frame": "recorded EEF interpreted as Piper link6 flange",
+  "calibration_status": "inherited estimated base transforms, not hardware calibration"
+}
\ No newline at end of file
diff --git a/150case/cases/stack_cups_ep000047/source_scene.json b/150case/cases/stack_cups_ep000047/source_scene.json
new file mode 100644
index 0000000000000000000000000000000000000000..5736111ae7e21d2e5cd93f8d61b18bd40e7d5107
--- /dev/null
+++ b/150case/cases/stack_cups_ep000047/source_scene.json
@@ -0,0 +1,119 @@
+{
+  "schema": "rssr.scene.v2",
+  "task_id": "dm7",
+  "objects": [
+    {
+      "id": "cup_left_base",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        0.19413159752561418,
+        -0.8269200428946406,
+        0.7928
+      ],
+      "size_m": [
+        0.075,
+        0.075,
+        0.085
+      ],
+      "yaw_rad": -0.04,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.18,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "cup_right_upper",
+      "shape": "cup",
+      "role": "object",
+      "color": "brown",
+      "position_m": [
+        -0.22779996951417641,
+        -0.630192201525363,
+        0.7928
+      ],
+      "size_m": [
+        0.065,
+        0.065,
+        0.085
+      ],
+      "yaw_rad": 0.05,
+      "rgba": [
+        0.56,
+        0.38,
+        0.19,
+        1.0
+      ],
+      "mobility": "free",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.84,
+        0.55
+      ],
+      "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+      "mass_kg": 0.06,
+      "wall_m": 0.003
+    },
+    {
+      "id": "stack_region",
+      "shape": "region",
+      "role": "target_region",
+      "color": "black",
+      "position_m": [
+        -0.018315138727591197,
+        -0.6562102644909686,
+        0.7517999999999999
+      ],
+      "size_m": [
+        0.18,
+        0.16,
+        0.003
+      ],
+      "yaw_rad": 0.0,
+      "rgba": [
+        0.05,
+        0.05,
+        0.05,
+        0.35
+      ],
+      "mobility": "static",
+      "parent_id": null,
+      "support_id": "table",
+      "head_center": [
+        0.516,
+        0.608
+      ],
+      "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+      "mass_kg": 0.001
+    }
+  ],
+  "bindings": {
+    "targets": [
+      "cup_left_base",
+      "cup_right_upper"
+    ],
+    "containers": [],
+    "excluded": [],
+    "particles": [],
+    "target_region": "stack_region",
+    "articulation": null,
+    "stack_hands": {
+      "base": "left",
+      "upper": "right"
+    }
+  }
+}
diff --git a/150case/cases/stack_cups_ep000048/asset/manifest.json b/150case/cases/stack_cups_ep000048/asset/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f6d0c75d3b47c51cf8d1d166834a3f7f4b8695e
--- /dev/null
+++ b/150case/cases/stack_cups_ep000048/asset/manifest.json
@@ -0,0 +1,10 @@
+{
+  "schema": "rssr.engineered_task_asset.v1",
+  "task_id": "dm7",
+  "version": "v0004",
+  "files": {
+    "definition.json": "8812b1166fe7ca4990eaff7d1800896099fb35d90b048a8d1e6e2d6e81325e75"
+  },
+  "status": "pending_source_physics",
+  "dimension_prior": "approximate visual scale bounded candidate, not measured geometry"
+}
\ No newline at end of file
diff --git a/150case/dataset/piper_dual_drawer_eef_xyz3d_video/meta/episodes.jsonl b/150case/dataset/piper_dual_drawer_eef_xyz3d_video/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5d89f3091c239d993b10ac2ae43d44bd84297f7e
--- /dev/null
+++ b/150case/dataset/piper_dual_drawer_eef_xyz3d_video/meta/episodes.jsonl
@@ -0,0 +1,50 @@
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+{"episode_index": 46, "tasks": ["Put_the_block_in_the_drawer."], "length": 474}
+{"episode_index": 47, "tasks": ["Put_the_block_in_the_drawer."], "length": 501}
+{"episode_index": 48, "tasks": ["Put_the_block_in_the_drawer."], "length": 567}
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diff --git a/150case/dataset/piper_dual_drawer_eef_xyz3d_video/meta/episodes_stats.jsonl b/150case/dataset/piper_dual_drawer_eef_xyz3d_video/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c1453abbe13f3e7fabb6605b2e99e54f4425848a
--- /dev/null
+++ b/150case/dataset/piper_dual_drawer_eef_xyz3d_video/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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