diff --git a/libero/manifest.json b/libero/manifest.json
deleted file mode 100644
index f9799efd18a7343a1d3598ba21e7ca3c44d89c11..0000000000000000000000000000000000000000
--- a/libero/manifest.json
+++ /dev/null
@@ -1,800 +0,0 @@
-{
-  "tasks": [
-    {
-      "suite": "libero_10",
-      "task": "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it",
-      "xml_refs": 89,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_10",
-      "task": "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it",
-      "xml_refs": 100,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_10",
-      "task": "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it",
-      "xml_refs": 89,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_10",
-      "task": "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove",
-      "xml_refs": 91,
-      "n_goal_preds": 3
-    },
-    {
-      "suite": "libero_10",
-      "task": "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket",
-      "xml_refs": 83,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_10",
-      "task": "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket",
-      "xml_refs": 89,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_10",
-      "task": "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket",
-      "xml_refs": 89,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_10",
-      "task": "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate",
-      "xml_refs": 83,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_10",
-      "task": "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate",
-      "xml_refs": 81,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_10",
-      "task": "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
-      "xml_refs": 86,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet",
-      "xml_refs": 96,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it",
-      "xml_refs": 96,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet",
-      "xml_refs": 96,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it",
-      "xml_refs": 96,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it",
-      "xml_refs": 96,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it",
-      "xml_refs": 96,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet",
-      "xml_refs": 92,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet",
-      "xml_refs": 92,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it",
-      "xml_refs": 92,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE1_put_the_black_bowl_on_the_plate",
-      "xml_refs": 92,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet",
-      "xml_refs": 92,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet",
-      "xml_refs": 96,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate",
-      "xml_refs": 96,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate",
-      "xml_refs": 96,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate",
-      "xml_refs": 96,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet",
-      "xml_refs": 96,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle",
-      "xml_refs": 96,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl",
-      "xml_refs": 96,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE3_put_the_frying_pan_on_the_stove",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE3_put_the_moka_pot_on_the_stove",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE3_turn_on_the_stove",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it",
-      "xml_refs": 89,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet",
-      "xml_refs": 100,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer",
-      "xml_refs": 100,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet",
-      "xml_refs": 100,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet",
-      "xml_refs": 100,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet",
-      "xml_refs": 100,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack",
-      "xml_refs": 100,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet",
-      "xml_refs": 94,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet",
-      "xml_refs": 94,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE5_put_the_black_bowl_on_the_plate",
-      "xml_refs": 94,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet",
-      "xml_refs": 94,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet",
-      "xml_refs": 94,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE6_close_the_microwave",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE7_open_the_microwave",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE7_put_the_white_bowl_on_the_plate",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove",
-      "xml_refs": 91,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE8_turn_off_the_stove",
-      "xml_refs": 91,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE9_turn_on_the_stove",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it",
-      "xml_refs": 89,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket",
-      "xml_refs": 83,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket",
-      "xml_refs": 83,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket",
-      "xml_refs": 83,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket",
-      "xml_refs": 83,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket",
-      "xml_refs": 89,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray",
-      "xml_refs": 85,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray",
-      "xml_refs": 85,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray",
-      "xml_refs": 85,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray",
-      "xml_refs": 85,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray",
-      "xml_refs": 85,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray",
-      "xml_refs": 83,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray",
-      "xml_refs": 83,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray",
-      "xml_refs": 83,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray",
-      "xml_refs": 83,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray",
-      "xml_refs": 83,
-      "n_goal_preds": 2
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate",
-      "xml_refs": 83,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate",
-      "xml_refs": 83,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate",
-      "xml_refs": 83,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate",
-      "xml_refs": 83,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate",
-      "xml_refs": 81,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate",
-      "xml_refs": 81,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate",
-      "xml_refs": 81,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate",
-      "xml_refs": 81,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy",
-      "xml_refs": 86,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy",
-      "xml_refs": 86,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy",
-      "xml_refs": 86,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy",
-      "xml_refs": 86,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
-      "xml_refs": 86,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy",
-      "xml_refs": 86,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy",
-      "xml_refs": 86,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy",
-      "xml_refs": 86,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
-      "task": "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy",
-      "xml_refs": 88,
-      "n_goal_preds": 1
-    },
-    {
-      "suite": "libero_90",
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deleted file mode 100644
index 02b17e6da3fe9775db7263e912566b834b186a25..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.goal.json
+++ /dev/null
@@ -1,497 +0,0 @@
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diff --git a/libero/tasks/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.xml b/libero/tasks/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.xml
deleted file mode 100644
index de31d2e3250b85086e1e765e3ed53b99d71f9714..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.xml
+++ /dev/null
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00000 0.00044" quat="0.00000 0.00000 0.00000 1.00000" size="0.02500 0.02500 0.06655" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.02594 0.00044" quat="0.00000 0.70711 0.70711 0.00000" size="0.00505 0.02500 0.06655" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.02955 0.00044" quat="0.00000 0.70711 0.70711 0.00000" size="0.00505 0.02500 0.06655" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03017 0.01254 0.00044" quat="0.00000 -0.19372 0.98106 0.00000" size="0.00420 0.01719 0.06655" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02934 -0.01403 0.00044" quat="-0.00000 -0.98106 -0.19372 -0.00000" size="0.00420 0.01719 0.06655" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02962 -0.01403 0.00044" quat="0.00000 -0.97505 0.22201 0.00000" size="0.00420 0.01719 0.06655" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02934 0.01509 0.00044" quat="0.00000 -0.97505 0.22201 0.00000" size="0.00420 0.01719 0.06655" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.03591 0.04260" quat="0.00000 0.70711 0.70711 0.00000" size="0.00577 0.01762 0.02451" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.04910 0.04619" quat="0.00000 0.70711 0.70711 0.00000" size="0.00721 0.00802 0.01374" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04159 0.05249" quat="0.00000 0.70711 0.70711 0.00000" size="0.00721 0.01021 0.01374" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.05829 0.06027" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.00655 0.00697 0.01409" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07546 0.05391" quat="0.00000 0.00000 -0.90919 -0.41638" size="0.00655 0.00697 0.01409" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07247 0.02824" quat="0.00000 -0.00000 -0.23224 -0.97266" size="0.00655 0.00710 0.02750" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00013 0.05763 0.00230" quat="0.00000 -0.00000 0.92514 -0.37963" size="0.00655 0.00707 0.01007" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00134 0.07429" quat="0.00000 0.00000 1.00000 0.00000" size="0.00524 0.00598 0.01140" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_1_g16" /><joint type="free" damping="0.0005" name="moka_pot_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="moka_pot_1_default_site" /></body>
-      <body name="flat_stove_1_main">
-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.goal.json b/libero/tasks/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.goal.json
deleted file mode 100644
index 463f386f7a7059f7cfbd75adb813a74bde21b69b..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.goal.json
+++ /dev/null
@@ -1,473 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "all",
-      "op": "gt",
-      "thr": 0.0,
-      "qpos_addr": [
-        25
-      ]
-    },
-    {
-      "fn": "in",
-      "obj": "akita_black_bowl_1_main",
-      "region": "white_cabinet_1_bottom_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_10",
-  "base": "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.009595632051193485,
-      0.30665239691095875,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.09259975703506362,
-      -0.2904276331553447,
-      0.9199999999999999
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
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diff --git a/libero/tasks/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.xml b/libero/tasks/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.xml
deleted file mode 100644
index a86b13aebcf4f457f8b5ea56dcaf03a2bf92cbaa..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.xml
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diff --git a/libero/tasks/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.goal.json b/libero/tasks/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.goal.json
deleted file mode 100644
index ee8ccc4aac9ea8bc2a8ee5ceeec20454da08ed7d..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.goal.json
+++ /dev/null
@@ -1,425 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "white_yellow_mug_1_main",
-      "region": "microwave_1_heating_region"
-    },
-    {
-      "fn": "joint",
-      "reduce": "all",
-      "op": "gt",
-      "thr": -0.005,
-      "qpos_addr": [
-        23
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-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
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-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
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-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
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-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_10",
-  "base": "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
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-      0.875
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-}
\ No newline at end of file
diff --git a/libero/tasks/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.xml b/libero/tasks/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.xml
deleted file mode 100644
index 171b050ce9597d081875790d2bf1e678c1a4fbfe..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.xml
+++ /dev/null
@@ -1,484 +0,0 @@
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-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
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-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
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-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <texture file="libero/scenes/../textures/new.png" type="cube" name="tex-table-new" />
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-    <material name="walls_mat" reflectance="0.0" shininess="0.3" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8" />
-    <material name="table_mat" texture="textable" />
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-    <texture file="libero/scenes/kitchen_background/kitchen_background.png" name="tex-kitchen_background" type="2d" />
-    <material name="kitchen_background" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background/visual/kitchen_background_vis.msh" name="kitchen_background_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_pot/kitchen_background_pot.png" name="tex-kitchen_background_pot" type="2d" />
-    <material name="kitchen_background_pot" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_pot" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_pot/visual/kitchen_background_pot_vis.msh" name="kitchen_background_pot_vis" scale="0.01 0.01 0.01" />
-
-    <material name="kitchen_background_hot_pot" reflectance="0.5" rgba="0.4 0.4 0.4 1.0" />
-    <mesh file="libero/scenes/kitchen_background_hot_pot/visual/kitchen_background_hot_pot_vis.msh" name="kitchen_background_hot_pot_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_stove/kitchen_background_stove.png" name="tex-kitchen_background_stove" type="2d" />
-    <material name="kitchen_background_stove" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_stove" texuniform="false" />
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-
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-    <material name="kitchen_background_fridge" reflectance="0.9" texrepeat="1 1" texture="tex-kitchen_background_fridge" texuniform="false" />
-    <mesh file="libero/scenes/fridge/visual/fridge_vis.msh" name="kitchen_background_fridge_vis" scale="0.01 0.01 0.01" />
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-        <mesh name="robot0_link1" file="robosuite/robots/panda/meshes/link1.stl" />
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type="box" pos="-0.01819 0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g37" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04120 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g38" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00460 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g39" /><joint type="free" damping="0.0005" name="white_yellow_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_yellow_mug_1_default_site" /></body>
-      <body name="microwave_1_main">
-            <geom mesh="microwave_1_micro" conaffinity="0" contype="0" group="1" material="microwave_1_micro_black" type="mesh" name="microwave_1_g0" />
-            <geom material="microwave_1_micro_metal" mesh="microwave_1_microbutton" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g1" />
-            <geom material="microwave_1_micro_metal" mesh="microwave_1_microfeet" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g2" />
-	    <site rgba="1 0 0 0" type="box" pos="0.0 0.01 0.20" quat="1 0 0 0" size="0.12 0.0835 0.005" name="microwave_1_top_side" />
-	    <site rgba="1 0 0 0" type="box" pos="0.0 0.01 0.096" quat="1 0 0 0" size="0.12 0.0835 0.08" name="microwave_1_heating_region" />
-            <geom pos="-0.158 0.0115 0.0935" size="0.0145 0.09955 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g3" />
-            <geom pos="0.118 0.0115 0.0935" size="0.0545 0.09955 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g4" />
-            <geom pos="-0.0405 0.0955 0.0935" size="0.1035 0.015 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g5" />
-            <geom pos="-0.04 -0.0035 0.1775" size="0.1035 0.0845 0.0095" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g6" />
-            <geom pos="-0.04 -0.004 0.012" size="0.1035 0.084 0.012" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g7" />
-            <geom pos="0.13 -0.0985 0.0935" size="0.0425 0.012 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g8" />
-            <body name="microwave_1_microdoorroot" pos="-0.1725 -0.088 0.096">
-                <joint type="hinge" axis="0 0 1" limited="true" name="microwave_1_microjoint" range="-2.094 0" damping="0.5" />
-                <geom mesh="microwave_1_microdoor" pos="0.1725 0.088 -0.096" conaffinity="0" contype="0" group="1" material="microwave_1_micro_black" type="mesh" name="microwave_1_g9" />
-                <geom material="microwave_1_micro_window" mesh="microwave_1_microwindow" pos="0.1725 0.088 -0.096" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g10" />
-                <geom material="microwave_1_micro_metal" pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g11" />
-                <geom material="microwave_1_micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 0.065" size="0.01 0.015" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g12" />
-                <geom material="microwave_1_micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 -0.065" size="0.01 0.015" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g13" />
-
-                <geom pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g14" />
-                <geom euler="1.57 0 0" pos="0.2375 -0.0375 .065" size="0.01 0.015" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g15" />
-                <geom euler="1.57 0 0" pos="0.2375 -0.0375 -.065" size="0.01 0.015" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g16" />
-                <geom pos="0.1295 -0.013 0" size="0.1295 0.012 0.0925" type="box" mass="0.20" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g17" />
-            </body>
-        <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="microwave_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.goal.json b/libero/tasks/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.goal.json
deleted file mode 100644
index 6cfae1d731a91a74e6defc8d0aa6ed898f9244f8..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.goal.json
+++ /dev/null
@@ -1,541 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "moka_pot_1_main",
-      "site": "flat_stove_1_cook_region",
-      "obj_geoms": [
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102
-      ],
-      "parent_geoms": [
-        121,
-        122,
-        125,
-        126,
-        127,
-        128,
-        129,
-        130,
-        131,
-        132,
-        133,
-        134,
-        135,
-        136,
-        137,
-        138,
-        139,
-        140,
-        141,
-        142
-      ]
-    },
-    {
-      "fn": "on_site",
-      "obj": "moka_pot_2_main",
-      "site": "flat_stove_1_cook_region",
-      "obj_geoms": [
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119
-      ],
-      "parent_geoms": [
-        121,
-        122,
-        125,
-        126,
-        127,
-        128,
-        129,
-        130,
-        131,
-        132,
-        133,
-        134,
-        135,
-        136,
-        137,
-        138,
-        139,
-        140,
-        141,
-        142
-      ]
-    },
-    {
-      "fn": "joint",
-      "reduce": "any",
-      "op": "ge",
-      "thr": 0.5,
-      "qpos_addr": [
-        23
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
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-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
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-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_10",
-  "base": "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove",
-  "body_pos": [
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-      0.0,
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-      0.0
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-}
\ No newline at end of file
diff --git a/libero/tasks/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.xml b/libero/tasks/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.xml
deleted file mode 100644
index 92968ee5df67aa58b49b9987ab023629529da605..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.xml
+++ /dev/null
@@ -1,504 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
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-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <texture file="libero/scenes/../textures/new.png" type="cube" name="tex-table-new" />
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-		<body name="flat_stove_1_burner_plate">
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-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
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-	      </body>
-	    </body>
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-          </worldbody>
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-  <equality>
-  </equality>
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diff --git a/libero/tasks/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.goal.json b/libero/tasks/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.goal.json
deleted file mode 100644
index 1c61aef6c7e8881c8087dbab6ab1171689b6913a..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.goal.json
+++ /dev/null
@@ -1,447 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "alphabet_soup_1_main",
-      "region": "basket_1_contain_region"
-    },
-    {
-      "fn": "in",
-      "obj": "cream_cheese_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
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-    "arm_qvel_index": [
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-      2,
-      3,
-      4,
-      5,
-      6
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-    "arm_act_index": [
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-      2,
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-    "grip_act_index": [
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-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_10",
-  "base": "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket",
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diff --git a/libero/tasks/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.xml b/libero/tasks/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.xml
deleted file mode 100644
index 0485cae2692349dfe2029267ad6afd5dbb110110..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.xml
+++ /dev/null
@@ -1,432 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
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-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="2d" name="texplane" />    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
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-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
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-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.2" specular="0.9" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/living_room_table/living_room_table_texture.png" name="tex-living_room_table" type="2d" />
-    <material name="living_room_table" reflectance="0.5" texrepeat="1 1" texture="tex-living_room_table" texuniform="false" />
-    <mesh file="libero/scenes/living_room_table/visual/living_room_table_vis.msh" name="living_room_table_vis" scale="1.5 1.5 1.5" />
-    
-    <texture file="libero/scenes/wall_decoration/wall_decoration_texture.png" name="tex-wall_decoration" type="2d" />
-    <material name="wall_decoration" reflectance="0.5" texrepeat="1 1" texture="tex-wall_decoration" texuniform="false" />
-    <mesh file="libero/scenes/wall_decoration/visual/wall_decoration_vis.msh" name="wall_decoration_vis" scale="0.4 0.1 0.4" />
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solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g24" /><joint type="free" damping="0.0005" name="tomato_sauce_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="tomato_sauce_1_default_site" /></body>
-      <body name="ketchup_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="ketchup_1_textured_vis" conaffinity="0" contype="0" group="1" material="ketchup_1_textured" name="ketchup_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01695 0.02811 0.03307" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.02393" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.01869" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.01032 0.01414 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01368 0.05471 0.00079" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00292 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01322 0.05471 0.00079" quat="0.00000 0.00000 0.70711 0.70711" size="0.00315 0.00460 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00008 0.05471 -0.01554" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00209 0.00685 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00002 0.05471 0.01682" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00186 0.00740 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 0.00901" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00259 0.00413 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 -0.00727" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00392 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01254 0.05471 -0.00799" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01259 0.05471 0.00929" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00380 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g12" /><joint type="free" damping="0.0005" name="ketchup_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="ketchup_1_default_site" /></body>
-      <body name="basket_1_main">
-      <site type="box" pos="-0.00000 -0.00000 0.07185" quat="0.00000 0.00000 0.00000 1.00000" size="0.06108 0.06108 0.06949" group="0" rgba="0.8 0 0 0" name="basket_1_contain_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="basket_1_basket_vis" conaffinity="0" contype="0" group="1" material="basket_1_basket" name="basket_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00251 -0.00000 0.01308" quat="0.70880 -0.00000 0.70541 -0.00000" size="0.00850 0.07240 0.07658" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.07265 -0.00000 0.07657" quat="0.02672 -0.02672 0.70660 0.70660" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00047 -0.06855 0.08177" quat="0.51263 -0.49025 0.50956 -0.48704" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00020 0.06909 0.08177" quat="0.48794 -0.51043 -0.48935 0.51177" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.07557 0.00000 0.07657" quat="0.01765 0.01765 -0.70689 0.70689" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g5" /><joint type="free" damping="0.0005" name="basket_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="basket_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.goal.json b/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.goal.json
deleted file mode 100644
index 2cddb71dfd42bb41d4166cc12cfa891a8681d732..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.goal.json
+++ /dev/null
@@ -1,519 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "alphabet_soup_1_main",
-      "region": "basket_1_contain_region"
-    },
-    {
-      "fn": "in",
-      "obj": "tomato_sauce_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
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-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
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-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_10",
-  "base": "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
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diff --git a/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.xml b/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.xml
deleted file mode 100644
index 1feddadc118ae2f55e5283e5f2f81d9daef64d10..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.xml
+++ /dev/null
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.goal.json b/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.goal.json
deleted file mode 100644
index 7e564100d638d976891278c97ed26e8acf3e2e6b..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.goal.json
+++ /dev/null
@@ -1,519 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "cream_cheese_1_main",
-      "region": "basket_1_contain_region"
-    },
-    {
-      "fn": "in",
-      "obj": "butter_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
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diff --git a/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.xml b/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.xml
deleted file mode 100644
index 1feddadc118ae2f55e5283e5f2f81d9daef64d10..0000000000000000000000000000000000000000
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\ No newline at end of file
diff --git a/libero/tasks/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.goal.json b/libero/tasks/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.goal.json
deleted file mode 100644
index 538f9d90af78395999c8719073e9ebca74750052..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.goal.json
+++ /dev/null
@@ -1,536 +0,0 @@
-{
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-      "obj2": "plate_2_main",
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diff --git a/libero/tasks/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.xml b/libero/tasks/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.xml
deleted file mode 100644
index 4d79e9b6ee67fd88eaf0b0aa39dc5f033a109b30..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.xml
+++ /dev/null
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-      <body name="plate_2_main">
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-      </worldbody>
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-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
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\ No newline at end of file
diff --git a/libero/tasks/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.goal.json b/libero/tasks/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.goal.json
deleted file mode 100644
index bd364802f2eaacb9d8364ade7479b86e735db42d..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.goal.json
+++ /dev/null
@@ -1,463 +0,0 @@
-{
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-      "fn": "on",
-      "obj": "porcelain_mug_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
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-        120,
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-        122,
-        123,
-        124,
-        125,
-        126
-      ]
-    },
-    {
-      "fn": "on_site",
-      "obj": "chocolate_pudding_1_main",
-      "site": "living_room_table_plate_right_region",
-      "obj_geoms": [
-        128
-      ],
-      "parent_geoms": null
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
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-      5,
-      6
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-    "substeps": 25
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-  "suite": "libero_10",
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\ No newline at end of file
diff --git a/libero/tasks/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.xml b/libero/tasks/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.xml
deleted file mode 100644
index 7cadcebd4e3bf8da3a296683d2fe368598f29343..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.xml
+++ /dev/null
@@ -1,425 +0,0 @@
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-  <asset>
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-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="2d" name="texplane" />    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
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-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table-legs" />
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-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.2" specular="0.9" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="plate_1_model_vis" conaffinity="0" contype="0" group="1" material="plate_1_model" name="plate_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g10" /><joint type="free" damping="0.0005" name="plate_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="plate_1_default_site" /></body>
-      <body name="chocolate_pudding_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="chocolate_pudding_1_textured_vis" conaffinity="0" contype="0" group="1" material="chocolate_pudding_1_textured" name="chocolate_pudding_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00050 0.00000 0.00063" quat="0.70711 0.00000 0.70711 0.00000" size="0.01371 0.02316 0.04010" group="0" rgba="0.8 0.8 0.8 0.3" name="chocolate_pudding_1_g1" /><joint type="free" damping="0.0005" name="chocolate_pudding_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="chocolate_pudding_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.goal.json b/libero/tasks/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.goal.json
deleted file mode 100644
index 965e126d77d66afd320c9a738d3ad52fcf6934fa..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.goal.json
+++ /dev/null
@@ -1,403 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "black_book_1_main",
-      "region": "desk_caddy_1_back_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
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-    "arm_act_index": [
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-      2,
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-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
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-      8
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-    "initial_joint": [
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-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
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-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
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-        80.0,
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-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_10",
-  "base": "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
-  "body_pos": [
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-}
\ No newline at end of file
diff --git a/libero/tasks/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.xml b/libero/tasks/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.xml
deleted file mode 100644
index 98afb730b78390380e987eb69e46f0dc4700592a..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.xml
+++ /dev/null
@@ -1,466 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
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-    <texture file="libero/scenes/../textures/light-gray-floor-tile.png" type="2d" name="texplane" />
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.1" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    
-    
-    <texture file="libero/scenes/study_wall_painting/study_wall_painting.png" name="tex-study_wall_painting" type="2d" />
-    <material name="study_wall_painting" reflectance="0.5" texrepeat="1 1" texture="tex-study_wall_painting" texuniform="false" />
-    <mesh file="libero/scenes/study_wall_painting/visual/study_wall_painting_vis.msh" name="study_wall_painting_vis" scale="1.0 1.0 1.0" />
-
-    <texture file="libero/scenes/office_book_shelf/ceramic.png" name="tex-office_book_shelf" type="2d" />
-    <material name="office_book_shelf" reflectance="0.5" texrepeat="1 1" texture="tex-office_book_shelf" texuniform="false" />
-    <mesh file="libero/scenes/office_book_shelf/visual/office_book_shelf_vis.msh" name="office_book_shelf_vis" scale="0.7 0.7 0.7" />
-
-    <texture file="libero/scenes/plant/plant_texture.png" name="tex-plant" type="2d" />
-    <material name="plant" reflectance="0.5" texrepeat="1 1" texture="tex-plant" texuniform="false" />
-    <mesh file="libero/scenes/plant/visual/plant_vis.msh" name="plant_vis" scale="0.7 0.7 0.7" />
-
-    <texture file="libero/scenes/black_book/black_book_texture.png" name="tex-black-book" type="2d" />
-    <material name="black_book" reflectance="0.5" texrepeat="1 1" texture="tex-black-book" texuniform="false" />
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.goal.json
deleted file mode 100644
index 86761d2d221ff823415cccefffa13245376acfe5..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,505 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "all",
-      "op": "gt",
-      "thr": 0.0,
-      "qpos_addr": [
-        37
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
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-      0.0,
-      0.912
-    ],
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-      0.0,
-      0.0
-    ],
-    [
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-      0.333
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-      0.0,
-      -0.316,
-      0.0
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-    [
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-      0.0,
-      0.0
-    ],
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-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
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-      0.0
-    ],
-    [
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-      0.0,
-      0.1065
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-      0.0,
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-      0.0
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-      0.097
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-      0.0524
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-      0.056
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-    [
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-  "body_quat": [
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-      0.0,
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-      0.0
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-    [
-      1.0,
-      0.0,
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-      0.7071067811865475,
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-      0.7071067811865475,
-      0.7071067811865475,
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-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
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-    [
-      0.7071067811865475,
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-    [
-      0.7071067811865475,
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-      1.0,
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.xml
deleted file mode 100644
index 89031a2be7dd8381848679c3e9d7afe1bdf61d76..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.xml
+++ /dev/null
@@ -1,543 +0,0 @@
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle" name="wooden_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle_handle" name="wooden_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g31" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="wooden_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom" name="wooden_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.goal.json
deleted file mode 100644
index 7f29dbf97423a11de2e91ee9ae1e15f20b298f7d..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.goal.json
+++ /dev/null
@@ -1,590 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "all",
-      "op": "gt",
-      "thr": 0.0,
-      "qpos_addr": [
-        37
-      ]
-    },
-    {
-      "fn": "on_site",
-      "obj": "akita_black_bowl_1_main",
-      "site": "wooden_cabinet_1_top_side",
-      "obj_geoms": [
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123,
-        124,
-        125,
-        126
-      ],
-      "parent_geoms": [
-        134,
-        135,
-        136,
-        137,
-        138,
-        139,
-        140,
-        141,
-        142,
-        144,
-        145,
-        146,
-        147,
-        148,
-        149,
-        151,
-        152,
-        153,
-        155,
-        156,
-        157,
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-        159,
-        160,
-        162,
-        163,
-        164,
-        166,
-        167,
-        168,
-        169,
-        170,
-        171,
-        173,
-        174,
-        175
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it",
-  "body_pos": [
-    [
-      0.0,
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-      0.0
-    ],
-    [
-      0.0,
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-      0.875
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-      0.0825,
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-      -0.0825,
-      0.384,
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.xml b/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.xml
deleted file mode 100644
index 89031a2be7dd8381848679c3e9d7afe1bdf61d76..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.xml
+++ /dev/null
@@ -1,543 +0,0 @@
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle_handle" name="wooden_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g31" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="wooden_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom" name="wooden_cabinet_1_g32" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
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-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
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-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.goal.json
deleted file mode 100644
index c5a9ffb0d68b9b3cceb6b4e9b83ca5246a211ab6..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,501 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "akita_black_bowl_1_main",
-      "region": "wooden_cabinet_1_top_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
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-      1,
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-      4,
-      5,
-      6
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-    "arm_act_index": [
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-      2,
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-      4,
-      5,
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-    "grip_act_index": [
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-    "torque_limits": [
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-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet",
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.xml
deleted file mode 100644
index 89031a2be7dd8381848679c3e9d7afe1bdf61d76..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.xml
+++ /dev/null
@@ -1,543 +0,0 @@
-<mujoco model="base">
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-  <size nconmax="5000" njmax="5000" />
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-  <asset>
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-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
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-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <texture file="libero/scenes/../textures/new.png" type="cube" name="tex-table-new" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/yellow_linen_wall_texture.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.3" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8" />
-    <material name="table_mat" texture="textable" />
-
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-	      <body name="wooden_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="wooden_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom" name="wooden_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json
deleted file mode 100644
index 315be7153590eca48ace84dae68531cb9a65a3dd..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json
+++ /dev/null
@@ -1,510 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "butter_2_main",
-      "region": "wooden_cabinet_1_top_region"
-    },
-    {
-      "fn": "joint",
-      "reduce": "all",
-      "op": "gt",
-      "thr": 0.0,
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-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it",
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.xml b/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.xml
deleted file mode 100644
index 89031a2be7dd8381848679c3e9d7afe1bdf61d76..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.xml
+++ /dev/null
@@ -1,543 +0,0 @@
-<mujoco model="base">
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-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
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-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
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-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
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-
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-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8" />
-    <material name="table_mat" texture="textable" />
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-    <texture file="libero/scenes/kitchen_background/kitchen_background.png" name="tex-kitchen_background" type="2d" />
-    <material name="kitchen_background" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background" texuniform="false" />
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-    <texture file="libero/scenes/kitchen_background_pot/kitchen_background_pot.png" name="tex-kitchen_background_pot" type="2d" />
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-    <material name="kitchen_background_hot_pot" reflectance="0.5" rgba="0.4 0.4 0.4 1.0" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
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-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
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-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          </worldbody>
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-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json
deleted file mode 100644
index 8c1d48d76614e5743d4406190479175fb331149d..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json
+++ /dev/null
@@ -1,510 +0,0 @@
-{
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-      "obj": "butter_1_main",
-      "region": "wooden_cabinet_1_top_region"
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-    "substeps": 25
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-  "suite": "libero_90",
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.xml b/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.xml
deleted file mode 100644
index 89031a2be7dd8381848679c3e9d7afe1bdf61d76..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.xml
+++ /dev/null
@@ -1,543 +0,0 @@
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-    <material name="table_mat" texture="textable" />
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-    <texture file="libero/scenes/kitchen_background/kitchen_background.png" name="tex-kitchen_background" type="2d" />
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="butter_2_butter_vis" conaffinity="0" contype="0" group="1" material="butter_2_butter" name="butter_2_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 -0.00000" quat="0.00530 0.00000 0.00530 0.00000" size="0.00871 0.01977 0.03809" group="0" rgba="0.8 0.8 0.8 0." name="butter_2_g1" /><joint type="free" damping="0.0005" name="butter_2_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="butter_2_default_site" /></body>
-      <body name="chocolate_pudding_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="chocolate_pudding_1_textured_vis" conaffinity="0" contype="0" group="1" material="chocolate_pudding_1_textured" name="chocolate_pudding_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00050 0.00000 0.00063" quat="0.70711 0.00000 0.70711 0.00000" size="0.01371 0.02316 0.04010" group="0" rgba="0.8 0.8 0.8 0.3" name="chocolate_pudding_1_g1" /><joint type="free" damping="0.0005" name="chocolate_pudding_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="chocolate_pudding_1_default_site" /></body>
-      <body name="wooden_cabinet_1_main">
-	    <body name="wooden_cabinet_1_base" pos="0 0 0.0">
-		<site type="box" pos="0.00354 0.01567 0.22152" quat="1 0 0 0" size="0.12534 0.09438 0.00147" group="0" rgba="0.8 0.8 0 0" name="wooden_cabinet_1_top_side" />
-	      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_base_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_base" name="wooden_cabinet_1_g0" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00397 0.10954 0.11350" quat="0.49988 -0.50104 -0.50012 0.49896" size="0.00193 0.10453 0.11106" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g1" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00405 0.01635 0.00686" quat="0.70792 0.00065 0.70629 -0.00065" size="0.00199 0.08960 0.12277" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g2" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.11216 0.01625 0.11426" quat="0.00000 0.00000 1.00000 0.00000" size="0.00517 0.09542 0.10584" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g3" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.11898 0.01625 0.11426" quat="0.00000 1.00000 0.00000 0.00000" size="0.00517 0.09542 0.10584" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00211 0.10938 0.11426" quat="0.49997 0.49997 -0.50003 -0.50003" size="0.00231 0.10584 0.11912" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g5" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00376 0.01868 0.14935" quat="0.70792 0.00065 0.70629 -0.00065" size="0.00085 0.08935 0.11168" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00408 0.01868 0.00933" quat="0.00065 -0.70792 0.00065 0.70629" size="0.00085 0.08935 0.11168" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00392 0.01868 0.07928" quat="0.70792 0.00065 0.70629 -0.00065" size="0.00085 0.08935 0.11168" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g8" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00394 0.01577 0.22157" quat="0.70711 0.00000 0.70711 0.00000" size="0.00142 0.09409 0.12729" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g9" />
-	      <body name="wooden_cabinet_1_cabinet_top" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_top_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site type="box" pos="0.00328 0.01128 0.18563" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" name="wooden_cabinet_1_top_region" />
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_top_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_top" name="wooden_cabinet_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.18309" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.18358" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.18358" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.15514" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g16" />
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_top_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_top_handle" name="wooden_cabinet_1_g17" />		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.18393" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g20" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_middle" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="wooden_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle" name="wooden_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle_handle" name="wooden_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g31" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="wooden_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom" name="wooden_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json
deleted file mode 100644
index e9fcef463223e4dd8b7c2dfbcbfa85a0cf0d349e..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json
+++ /dev/null
@@ -1,510 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "chocolate_pudding_1_main",
-      "region": "wooden_cabinet_1_top_region"
-    },
-    {
-      "fn": "joint",
-      "reduce": "all",
-      "op": "gt",
-      "thr": 0.0,
-      "qpos_addr": [
-        37
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.xml b/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.xml
deleted file mode 100644
index 89031a2be7dd8381848679c3e9d7afe1bdf61d76..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.xml
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-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_top_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site type="box" pos="0.00328 0.01128 0.18563" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" name="wooden_cabinet_1_top_region" />
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_top_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_top" name="wooden_cabinet_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.18309" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.18358" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.18358" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.15514" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g16" />
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_top_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_top_handle" name="wooden_cabinet_1_g17" />		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.18393" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g20" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_middle" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="wooden_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle" name="wooden_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle_handle" name="wooden_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g31" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="wooden_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom" name="wooden_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.goal.json
deleted file mode 100644
index 84b428f928dda9fc296c2d17bb2de30c2579dbf0..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,457 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "any",
-      "op": "lt",
-      "thr": -0.14,
-      "qpos_addr": [
-        25
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.00857927883604226,
-      -0.3082574140059692,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.xml
deleted file mode 100644
index 30a7f9250677bd49f8733a40e3629b5f8f5ee815..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.xml
+++ /dev/null
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g20" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_middle" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="wooden_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle" name="wooden_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle_handle" name="wooden_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g31" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="wooden_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom" name="wooden_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet.goal.json
deleted file mode 100644
index 7dbc21e23918b26f8e986b48eb62d8ef033ea83b..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,457 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "any",
-      "op": "lt",
-      "thr": -0.14,
-      "qpos_addr": [
-        23
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
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-      0.0
-    ],
-    [
-      0.0,
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-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.00857927883604226,
-      -0.3082574140059692,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
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-    [
-      0.0,
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-      0.0
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-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      6.123233995736766e-17,
-      0.0,
-      0.0,
-      1.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
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-    [
-      1.0,
-      0.0,
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-    [
-      1.0,
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-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "init_state": [
-    0.0,
-    0.0,
-    -0.161037389,
-    0.0,
-    -2.44459747,
-    0.0,
-    2.2267522,
-    0.7853981633974483,
-    0.020833,
-    -0.020833,
-    0.023183138025051467,
-    -0.005827924058711114,
-    0.97,
-    0.7071067811865476,
-    0.0,
-    0.0,
-    0.7071067811865477,
-    0.0014447459876452233,
-    0.25340222805469664,
-    0.97,
-    0.7071067811865476,
-    0.0,
-    0.0,
-    0.7071067811865477,
-    0.0,
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-    0.0,
-    0.0,
-    0.0,
-    0.0
-  ]
-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet.xml
deleted file mode 100644
index 30a7f9250677bd49f8733a40e3629b5f8f5ee815..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet.xml
+++ /dev/null
@@ -1,535 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle_handle" name="wooden_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g31" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="wooden_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom" name="wooden_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
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-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.goal.json
deleted file mode 100644
index ed8f72622c562a692f0af6a92be20984a7ddcdf9..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.goal.json
+++ /dev/null
@@ -1,462 +0,0 @@
-{
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-      "reduce": "any",
-      "op": "lt",
-      "thr": -0.14,
-      "qpos_addr": [
-        23
-      ]
-    },
-    {
-      "fn": "in",
-      "obj": "akita_black_bowl_1_main",
-      "region": "wooden_cabinet_1_top_region"
-    }
-  ],
-  "osc": {
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-    "arm_qvel_index": [
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-      6
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-      ]
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-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it",
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.xml b/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.xml
deleted file mode 100644
index 30a7f9250677bd49f8733a40e3629b5f8f5ee815..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.xml
+++ /dev/null
@@ -1,535 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
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-  <asset>
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-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
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-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
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-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
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-    <texture file="libero/scenes/../textures/yellow_linen_wall_texture.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.3" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/kitchen_background/kitchen_background.png" name="tex-kitchen_background" type="2d" />
-    <material name="kitchen_background" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background/visual/kitchen_background_vis.msh" name="kitchen_background_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_pot/kitchen_background_pot.png" name="tex-kitchen_background_pot" type="2d" />
-    <material name="kitchen_background_pot" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_pot" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_pot/visual/kitchen_background_pot_vis.msh" name="kitchen_background_pot_vis" scale="0.01 0.01 0.01" />
-
-    <material name="kitchen_background_hot_pot" reflectance="0.5" rgba="0.4 0.4 0.4 1.0" />
-    <mesh file="libero/scenes/kitchen_background_hot_pot/visual/kitchen_background_hot_pot_vis.msh" name="kitchen_background_hot_pot_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_stove/kitchen_background_stove.png" name="tex-kitchen_background_stove" type="2d" />
-    <material name="kitchen_background_stove" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_stove" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_stove/visual/kitchen_background_stove_vis.msh" name="kitchen_background_stove_vis" scale="0.01 0.01 0.01" />
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-    <texture file="libero/scenes/fridge/metal.png" name="tex-kitchen_background_fridge" type="2d" />
-    <material name="kitchen_background_fridge" reflectance="0.9" texrepeat="1 1" texture="tex-kitchen_background_fridge" texuniform="false" />
-    <mesh file="libero/scenes/fridge/visual/fridge_vis.msh" name="kitchen_background_fridge_vis" scale="0.01 0.01 0.01" />
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-  <mesh name="robot0_link0" file="robosuite/robots/panda/meshes/link0.stl" />
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.goal.json
deleted file mode 100644
index dc44db3c69066db4173870ee6885df666313e1f8..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.goal.json
+++ /dev/null
@@ -1,507 +0,0 @@
-{
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.xml b/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.xml
deleted file mode 100644
index 30a7f9250677bd49f8733a40e3629b5f8f5ee815..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.xml
+++ /dev/null
@@ -1,535 +0,0 @@
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-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00408 0.01868 0.00933" quat="0.00065 -0.70792 0.00065 0.70629" size="0.00085 0.08935 0.11168" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00392 0.01868 0.07928" quat="0.70792 0.00065 0.70629 -0.00065" size="0.00085 0.08935 0.11168" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g8" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00394 0.01577 0.22157" quat="0.70711 0.00000 0.70711 0.00000" size="0.00142 0.09409 0.12729" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g9" />
-	      <body name="wooden_cabinet_1_cabinet_top" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_top_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site type="box" pos="0.00328 0.01128 0.18563" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" name="wooden_cabinet_1_top_region" />
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_top_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_top" name="wooden_cabinet_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.18309" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.18358" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.18358" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.15514" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g16" />
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_top_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_top_handle" name="wooden_cabinet_1_g17" />		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.18393" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g20" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_middle" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="wooden_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle" name="wooden_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle_handle" name="wooden_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g31" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="wooden_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom" name="wooden_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.goal.json
deleted file mode 100644
index adbcd88676387f333d83a77ef196beb0749a752d..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,533 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "akita_black_bowl_1_main",
-      "site": "wooden_cabinet_1_top_side",
-      "obj_geoms": [
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123,
-        124,
-        125,
-        126
-      ],
-      "parent_geoms": [
-        139,
-        140,
-        141,
-        142,
-        143,
-        144,
-        145,
-        146,
-        147,
-        149,
-        150,
-        151,
-        152,
-        153,
-        154,
-        156,
-        157,
-        158,
-        160,
-        161,
-        162,
-        163,
-        164,
-        165,
-        167,
-        168,
-        169,
-        171,
-        172,
-        173,
-        174,
-        175,
-        176,
-        178,
-        179,
-        180
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.00857927883604226,
-      -0.3082574140059692,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.xml
deleted file mode 100644
index 30a7f9250677bd49f8733a40e3629b5f8f5ee815..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.xml
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.15514" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g16" />
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_top_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_top_handle" name="wooden_cabinet_1_g17" />		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.18393" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g20" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_middle" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="wooden_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle" name="wooden_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle_handle" name="wooden_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g31" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="wooden_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom" name="wooden_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet.goal.json
deleted file mode 100644
index 8485cbf1c170be84649fe7762ed965db9285dc71..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,505 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "any",
-      "op": "lt",
-      "thr": -0.14,
-      "qpos_addr": [
-        37
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.00957236684465528,
-      -0.29401682871566553,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
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-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      6.123233995736766e-17,
-      0.0,
-      0.0,
-      1.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
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-    ],
-    [
-      1.0,
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-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "init_state": [
-    0.0,
-    0.0,
-    -0.161037389,
-    0.0,
-    -2.44459747,
-    0.0,
-    2.2267522,
-    0.7853981633974483,
-    0.020833,
-    -0.020833,
-    0.12318313802505146,
-    0.1441720759412889,
-    0.97,
-    0.7071067811865476,
-    0.0,
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-    0.7071067811865477,
-    -0.04855525401235478,
-    0.20340222805469663,
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-    0.0,
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet.xml
deleted file mode 100644
index 52ef7a80fd131f7b677c7eac40992af1db0c8c82..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet.xml
+++ /dev/null
@@ -1,543 +0,0 @@
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate.goal.json
deleted file mode 100644
index 4b4fa3c8993bdbdabe18832ae90e993329cec215..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate.goal.json
+++ /dev/null
@@ -1,555 +0,0 @@
-{
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate.xml b/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate.xml
deleted file mode 100644
index 52ef7a80fd131f7b677c7eac40992af1db0c8c82..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate.xml
+++ /dev/null
@@ -1,543 +0,0 @@
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g26" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle_handle" name="wooden_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g30" />
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-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="wooden_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
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-	      </body>
-
-
-	    </body>
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-          </worldbody>
-
-  <equality>
-  </equality>
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.goal.json
deleted file mode 100644
index 15145bf95531cd1fa8a6a147ca48a6e34460cf68..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.goal.json
+++ /dev/null
@@ -1,555 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "akita_black_bowl_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
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-      "obj2_geoms": [
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-        215,
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-    }
-  ],
-  "osc": {
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-    "arm_qvel_index": [
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-    "grip_act_index": [
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-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate",
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.xml b/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.xml
deleted file mode 100644
index 52ef7a80fd131f7b677c7eac40992af1db0c8c82..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.xml
+++ /dev/null
@@ -1,543 +0,0 @@
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate.goal.json
deleted file mode 100644
index 947a4c3b28246a6983d90a26051d513ac00c3627..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate.goal.json
+++ /dev/null
@@ -1,555 +0,0 @@
-{
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate.xml b/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate.xml
deleted file mode 100644
index 52ef7a80fd131f7b677c7eac40992af1db0c8c82..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate.xml
+++ /dev/null
@@ -1,543 +0,0 @@
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle" name="wooden_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle_handle" name="wooden_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g31" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="wooden_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom" name="wooden_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.goal.json
deleted file mode 100644
index ba590bee15c10de4d20aa3167b59c0a7fe4015e4..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,581 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "akita_black_bowl_2_main",
-      "site": "wooden_cabinet_1_top_side",
-      "obj_geoms": [
-        128,
-        129,
-        130,
-        131,
-        132,
-        133,
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-        150,
-        151,
-        152,
-        153,
-        154,
-        155,
-        156,
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-        158,
-        159,
-        160,
-        161,
-        162,
-        163,
-        164,
-        165,
-        166,
-        167
-      ],
-      "parent_geoms": [
-        221,
-        222,
-        223,
-        224,
-        225,
-        226,
-        227,
-        228,
-        229,
-        231,
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-        255,
-        256,
-        257,
-        258,
-        260,
-        261,
-        262
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
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-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
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-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet",
-  "body_pos": [
-    [
-      0.0,
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-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.xml
deleted file mode 100644
index 52ef7a80fd131f7b677c7eac40992af1db0c8c82..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.xml
+++ /dev/null
@@ -1,543 +0,0 @@
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.goal.json
deleted file mode 100644
index 294e2a8f40ee4444a79353796de5b36c5ec01a95..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.goal.json
+++ /dev/null
@@ -1,585 +0,0 @@
-{
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.xml b/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.xml
deleted file mode 100644
index 52ef7a80fd131f7b677c7eac40992af1db0c8c82..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.xml
+++ /dev/null
@@ -1,543 +0,0 @@
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g20" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_middle" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="wooden_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle" name="wooden_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle_handle" name="wooden_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g31" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="wooden_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom" name="wooden_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
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-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.goal.json
deleted file mode 100644
index f4030304f439664aee5488c25a0929687f5a9201..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.goal.json
+++ /dev/null
@@ -1,585 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "akita_black_bowl_2_main",
-      "obj2": "akita_black_bowl_3_main",
-      "obj_geoms": [
-        128,
-        129,
-        130,
-        131,
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-        133,
-        134,
-        135,
-        136,
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-        140,
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-        142,
-        143,
-        144,
-        145,
-        146,
-        147,
-        148,
-        149,
-        150,
-        151,
-        152,
-        153,
-        154,
-        155,
-        156,
-        157,
-        158,
-        159,
-        160,
-        161,
-        162,
-        163,
-        164,
-        165,
-        166,
-        167
-      ],
-      "obj2_geoms": [
-        169,
-        170,
-        171,
-        172,
-        173,
-        174,
-        175,
-        176,
-        177,
-        178,
-        179,
-        180,
-        181,
-        182,
-        183,
-        184,
-        185,
-        186,
-        187,
-        188,
-        189,
-        190,
-        191,
-        192,
-        193,
-        194,
-        195,
-        196,
-        197,
-        198,
-        199,
-        200,
-        201,
-        202,
-        203,
-        204,
-        205,
-        206,
-        207,
-        208
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
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-      0.7071067811865475,
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-      0.7071067811865475,
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.xml b/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.xml
deleted file mode 100644
index 52ef7a80fd131f7b677c7eac40992af1db0c8c82..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.xml
+++ /dev/null
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.goal.json
deleted file mode 100644
index 82cbc31c74a926c27229e08c62164214d870af77..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.goal.json
+++ /dev/null
@@ -1,498 +0,0 @@
-{
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.xml b/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.xml
deleted file mode 100644
index de31d2e3250b85086e1e765e3ed53b99d71f9714..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.xml
+++ /dev/null
@@ -1,497 +0,0 @@
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.goal.json
deleted file mode 100644
index f822ff90af4b7079d8d2be5bcb1686905c3d5164..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.goal.json
+++ /dev/null
@@ -1,488 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "moka_pot_1_main",
-      "site": "flat_stove_1_cook_region",
-      "obj_geoms": [
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123,
-        124,
-        125,
-        126,
-        127,
-        128
-      ],
-      "parent_geoms": [
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-        131,
-        134,
-        135,
-        136,
-        137,
-        138,
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-        140,
-        141,
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-        144,
-        145,
-        146,
-        147,
-        148,
-        149,
-        150,
-        151
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
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-    "arm_act_index": [
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-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
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-    ],
-    "initial_joint": [
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-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
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-    ],
-    "torque_limits": [
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-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
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-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE3_put_the_moka_pot_on_the_stove",
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.xml b/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.xml
deleted file mode 100644
index de31d2e3250b85086e1e765e3ed53b99d71f9714..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.xml
+++ /dev/null
@@ -1,497 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
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-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <texture file="libero/scenes/../textures/new.png" type="cube" name="tex-table-new" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/yellow_linen_wall_texture.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.3" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/kitchen_background/kitchen_background.png" name="tex-kitchen_background" type="2d" />
-    <material name="kitchen_background" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background/visual/kitchen_background_vis.msh" name="kitchen_background_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_pot/kitchen_background_pot.png" name="tex-kitchen_background_pot" type="2d" />
-    <material name="kitchen_background_pot" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_pot" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_pot/visual/kitchen_background_pot_vis.msh" name="kitchen_background_pot_vis" scale="0.01 0.01 0.01" />
-
-    <material name="kitchen_background_hot_pot" reflectance="0.5" rgba="0.4 0.4 0.4 1.0" />
-    <mesh file="libero/scenes/kitchen_background_hot_pot/visual/kitchen_background_hot_pot_vis.msh" name="kitchen_background_hot_pot_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_stove/kitchen_background_stove.png" name="tex-kitchen_background_stove" type="2d" />
-    <material name="kitchen_background_stove" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_stove" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_stove/visual/kitchen_background_stove_vis.msh" name="kitchen_background_stove_vis" scale="0.01 0.01 0.01" />
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-    <texture file="libero/scenes/fridge/metal.png" name="tex-kitchen_background_fridge" type="2d" />
-    <material name="kitchen_background_fridge" reflectance="0.9" texrepeat="1 1" texture="tex-kitchen_background_fridge" texuniform="false" />
-    <mesh file="libero/scenes/fridge/visual/fridge_vis.msh" name="kitchen_background_fridge_vis" scale="0.01 0.01 0.01" />
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-        
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove.goal.json
deleted file mode 100644
index 54d5b77a8d9ea457de0169b991c829e6ad978a26..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove.goal.json
+++ /dev/null
@@ -1,453 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "any",
-      "op": "ge",
-      "thr": 0.5,
-      "qpos_addr": [
-        23
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE3_turn_on_the_stove",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
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-      0.0
-    ],
-    [
-      0.0,
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-      0.0
-    ],
-    [
-      0.0,
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-      0.0
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-    [
-      0.0,
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-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.19072674478997942,
-      0.19766883037651556,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.15,
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-      0.0
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-    [
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-      0.0,
-      0.0
-    ],
-    [
-      0.0,
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-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
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-      0.0
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-    [
-      1.0,
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-      0.0,
-      0.0
-    ],
-    [
-      1.0,
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-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
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-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
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-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
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-      0.0,
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-    [
-      1.0,
-      0.0,
-      0.0,
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-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865476,
-      0.0,
-      0.0,
-      0.7071067811865476
-    ]
-  ],
-  "init_state": [
-    0.0,
-    0.0,
-    -0.161037389,
-    0.0,
-    -2.44459747,
-    0.0,
-    2.2267522,
-    0.7853981633974483,
-    0.020833,
-    -0.020833,
-    -0.04855525401235478,
-    -0.2465977719453034,
-    0.97,
-    0.7071067811865476,
-    0.0,
-    0.0,
-    0.7071067811865477,
-    0.02855180290989435,
-    -0.020643535014922967,
-    0.97,
-    0.0,
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-    0.0,
-    1.0,
-    0.0,
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-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0
-  ]
-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove.xml b/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove.xml
deleted file mode 100644
index de31d2e3250b85086e1e765e3ed53b99d71f9714..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove.xml
+++ /dev/null
@@ -1,497 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <texture file="libero/scenes/../textures/new.png" type="cube" name="tex-table-new" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/yellow_linen_wall_texture.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.3" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/kitchen_background/kitchen_background.png" name="tex-kitchen_background" type="2d" />
-    <material name="kitchen_background" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background/visual/kitchen_background_vis.msh" name="kitchen_background_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_pot/kitchen_background_pot.png" name="tex-kitchen_background_pot" type="2d" />
-    <material name="kitchen_background_pot" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_pot" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_pot/visual/kitchen_background_pot_vis.msh" name="kitchen_background_pot_vis" scale="0.01 0.01 0.01" />
-
-    <material name="kitchen_background_hot_pot" reflectance="0.5" rgba="0.4 0.4 0.4 1.0" />
-    <mesh file="libero/scenes/kitchen_background_hot_pot/visual/kitchen_background_hot_pot_vis.msh" name="kitchen_background_hot_pot_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_stove/kitchen_background_stove.png" name="tex-kitchen_background_stove" type="2d" />
-    <material name="kitchen_background_stove" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_stove" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_stove/visual/kitchen_background_stove_vis.msh" name="kitchen_background_stove_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/fridge/metal.png" name="tex-kitchen_background_fridge" type="2d" />
-    <material name="kitchen_background_fridge" reflectance="0.9" texrepeat="1 1" texture="tex-kitchen_background_fridge" texuniform="false" />
-    <mesh file="libero/scenes/fridge/visual/fridge_vis.msh" name="kitchen_background_fridge_vis" scale="0.01 0.01 0.01" />
-
-  <mesh name="robot0_link0" file="robosuite/robots/panda/meshes/link0.stl" />
-        <mesh name="robot0_link1" file="robosuite/robots/panda/meshes/link1.stl" />
-        <mesh name="robot0_link2" file="robosuite/robots/panda/meshes/link2.stl" />
-        <mesh name="robot0_link3" file="robosuite/robots/panda/meshes/link3.stl" />
-        <mesh name="robot0_link4" file="robosuite/robots/panda/meshes/link4.stl" />
-        <mesh name="robot0_link5" file="robosuite/robots/panda/meshes/link5.stl" />
-        <mesh name="robot0_link6" file="robosuite/robots/panda/meshes/link6.stl" />
-        <mesh name="robot0_link7" file="robosuite/robots/panda/meshes/link7.stl" />
-
-        
-	<material name="robot0_Face636_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
-	<material name="robot0_Part__Feature017_001" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
-	<material name="robot0_Part__Feature018_001" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
-	<material name="robot0_Part__Feature019_001" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
-	<material name="robot0_Part__Feature022_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
-	<material name="robot0_Part__Feature023_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
-	<material name="robot0_Shell001_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
-	<material name="robot0_Shell002_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
-	<material name="robot0_Shell003_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
-	<material name="robot0_Shell009_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
-	<material name="robot0_Shell010_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
-	<material name="robot0_Shell_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
-	<mesh name="robot0_link0_vis_0" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj" />
-	<mesh name="robot0_link0_vis_1" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj" />
-	<mesh name="robot0_link0_vis_2" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj" />
-	<mesh name="robot0_link0_vis_3" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj" />
-	<mesh name="robot0_link0_vis_4" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj" />
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.goal.json
deleted file mode 100644
index f74bb48247bb469fccd7a284ba7ebf6460ab85c0..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.goal.json
+++ /dev/null
@@ -1,507 +0,0 @@
-{
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.xml b/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.xml
deleted file mode 100644
index de31d2e3250b85086e1e765e3ed53b99d71f9714..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.xml
+++ /dev/null
@@ -1,497 +0,0 @@
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-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.goal.json
deleted file mode 100644
index 111561cdb5c54ba481a1e4837c740dbbeffb135c..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,468 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "all",
-      "op": "gt",
-      "thr": 0.0,
-      "qpos_addr": [
-        25
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
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-      -0.66,
-      0.0,
-      0.912
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-      0.0,
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-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
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-      0.0
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-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
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-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
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-    [
-      0.0,
-      0.0,
-      0.097
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-      0.0524
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-      0.0085,
-      0.056
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-      0.0524
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-    [
-      0.0,
-      -0.0085,
-      0.056
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-      0.01
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-      0.0,
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-    [
-      0.0,
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-      0.0
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-      -0.1,
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-    ],
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-      0.30665239691095875,
-      0.905
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-    [
-      -0.09259975703506362,
-      -0.2904276331553447,
-      0.9199999999999999
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-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
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-      1.0,
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-      0.7071067811865475,
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-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
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-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
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-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
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-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
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-      0.7071067811865475,
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-    [
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-      0.7071067811865475,
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-    [
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-    [
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-      1.0,
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-    [
-      1.0,
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-    [
-      1.0,
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-    [
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-    [
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-    [
-      6.123233995736766e-17,
-      0.0,
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-  ],
-  "init_state": [
-    0.0,
-    0.0,
-    -0.161037389,
-    0.0,
-    -2.44459747,
-    0.0,
-    2.2267522,
-    0.7853981633974483,
-    0.020833,
-    -0.020833,
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-    -0.04855525401235478,
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-    -0.12872016808536696,
-    0.02855180290989435,
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-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.xml
deleted file mode 100644
index a86b13aebcf4f457f8b5ea56dcaf03a2bf92cbaa..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.xml
+++ /dev/null
@@ -1,590 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <texture file="libero/scenes/../textures/new.png" type="cube" name="tex-table-new" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/yellow_linen_wall_texture.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.3" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/kitchen_background/kitchen_background.png" name="tex-kitchen_background" type="2d" />
-    <material name="kitchen_background" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background/visual/kitchen_background_vis.msh" name="kitchen_background_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_pot/kitchen_background_pot.png" name="tex-kitchen_background_pot" type="2d" />
-    <material name="kitchen_background_pot" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_pot" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_pot/visual/kitchen_background_pot_vis.msh" name="kitchen_background_pot_vis" scale="0.01 0.01 0.01" />
-
-    <material name="kitchen_background_hot_pot" reflectance="0.5" rgba="0.4 0.4 0.4 1.0" />
-    <mesh file="libero/scenes/kitchen_background_hot_pot/visual/kitchen_background_hot_pot_vis.msh" name="kitchen_background_hot_pot_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_stove/kitchen_background_stove.png" name="tex-kitchen_background_stove" type="2d" />
-    <material name="kitchen_background_stove" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_stove" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_stove/visual/kitchen_background_stove_vis.msh" name="kitchen_background_stove_vis" scale="0.01 0.01 0.01" />
-
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_top_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_top_handle" name="white_cabinet_1_g17" />		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.18393" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g20" />
-	      </body>
-
-	      <body name="white_cabinet_1_cabinet_middle" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="white_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_middle" name="white_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_middle_handle" name="white_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g31" />
-	      </body>
-
-	      <body name="white_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="white_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom" name="white_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom_handle" name="white_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_cabinet_1_default_site" /></body>
-          <body name="wine_rack_1_main">
-      <site type="box" pos="0 -0.08003 0.21745" quat="0.8549119 -0.5187733 0 0" size="0.10087 0.02200 0.00251" group="0" rgba="0.8 0.8 0.8 0" name="wine_rack_1_top_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_planes_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_planes" name="wine_rack_1_g0" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00610 0.25118" quat="0.68093 0.19061 0.68093 0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g1" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.04273 0.12727" quat="0.68093 0.19061 -0.68093 -0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g2" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stoppers_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stoppers" name="wine_rack_1_g3" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.07477 0.22072" quat="0.61020 -0.35728 -0.61020 0.35728" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.10912 0.09735" quat="0.35728 0.61020 -0.35728 -0.61020" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g5" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stand_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stand" name="wine_rack_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00657" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00450 0.06646 0.09302" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.06935 0.01006" quat="0.70560 -0.04613 -0.70560 0.04613" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g8" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.06430 0.01263" quat="0.04959 -0.70537 -0.04959 0.70537" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g9" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 0.02050" quat="0.70711 0.00000 0.70711 0.00000" size="0.00450 0.01410 0.09045" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g10" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00886 0.17026" quat="0.00000 0.00000 -0.13781 -0.99046" size="0.00762 0.00905 0.16165" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g11" />
-      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wine_rack_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer.goal.json
deleted file mode 100644
index 406b033da407c2481582297c7fa5c53553989920..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer.goal.json
+++ /dev/null
@@ -1,477 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "all",
-      "op": "gt",
-      "thr": 0.0,
-      "qpos_addr": [
-        25
-      ]
-    },
-    {
-      "fn": "joint",
-      "reduce": "any",
-      "op": "lt",
-      "thr": -0.14,
-      "qpos_addr": [
-        23
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.009595632051193485,
-      0.30665239691095875,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.09259975703506362,
-      -0.2904276331553447,
-      0.9199999999999999
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer.xml b/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer.xml
deleted file mode 100644
index a86b13aebcf4f457f8b5ea56dcaf03a2bf92cbaa..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer.xml
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.goal.json
deleted file mode 100644
index 93cb3b3e636b1e92f0f9234e96754c9300912137..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,464 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "akita_black_bowl_1_main",
-      "region": "white_cabinet_1_bottom_region"
-    }
-  ],
-  "osc": {
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-      6
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-    "substeps": 25
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-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet",
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.xml
deleted file mode 100644
index a86b13aebcf4f457f8b5ea56dcaf03a2bf92cbaa..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.xml
+++ /dev/null
@@ -1,590 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
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-  <asset>
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-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
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-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <texture file="libero/scenes/../textures/new.png" type="cube" name="tex-table-new" />
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-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
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-    
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-    <material name="walls_mat" reflectance="0.0" shininess="0.3" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/kitchen_background/kitchen_background.png" name="tex-kitchen_background" type="2d" />
-    <material name="kitchen_background" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background/visual/kitchen_background_vis.msh" name="kitchen_background_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_pot/kitchen_background_pot.png" name="tex-kitchen_background_pot" type="2d" />
-    <material name="kitchen_background_pot" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_pot" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_pot/visual/kitchen_background_pot_vis.msh" name="kitchen_background_pot_vis" scale="0.01 0.01 0.01" />
-
-    <material name="kitchen_background_hot_pot" reflectance="0.5" rgba="0.4 0.4 0.4 1.0" />
-    <mesh file="libero/scenes/kitchen_background_hot_pot/visual/kitchen_background_hot_pot_vis.msh" name="kitchen_background_hot_pot_vis" scale="0.01 0.01 0.01" />
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-    <texture file="libero/scenes/kitchen_background_stove/kitchen_background_stove.png" name="tex-kitchen_background_stove" type="2d" />
-    <material name="kitchen_background_stove" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_stove" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_stove/visual/kitchen_background_stove_vis.msh" name="kitchen_background_stove_vis" scale="0.01 0.01 0.01" />
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-    <material name="kitchen_background_fridge" reflectance="0.9" texrepeat="1 1" texture="tex-kitchen_background_fridge" texuniform="false" />
-    <mesh file="libero/scenes/fridge/visual/fridge_vis.msh" name="kitchen_background_fridge_vis" scale="0.01 0.01 0.01" />
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-
-	    </body>
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.goal.json
deleted file mode 100644
index 2ce246fdce2a94ef053d4dec1676acde8dc21b1f..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,544 +0,0 @@
-{
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.xml
deleted file mode 100644
index a86b13aebcf4f457f8b5ea56dcaf03a2bf92cbaa..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.xml
+++ /dev/null
@@ -1,590 +0,0 @@
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.18358" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.15514" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g16" />
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_top_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_top_handle" name="white_cabinet_1_g17" />		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.18393" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g20" />
-	      </body>
-
-	      <body name="white_cabinet_1_cabinet_middle" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="white_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_middle" name="white_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_middle_handle" name="white_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g31" />
-	      </body>
-
-	      <body name="white_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="white_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom" name="white_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom_handle" name="white_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_cabinet_1_default_site" /></body>
-          <body name="wine_rack_1_main">
-      <site type="box" pos="0 -0.08003 0.21745" quat="0.8549119 -0.5187733 0 0" size="0.10087 0.02200 0.00251" group="0" rgba="0.8 0.8 0.8 0" name="wine_rack_1_top_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_planes_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_planes" name="wine_rack_1_g0" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00610 0.25118" quat="0.68093 0.19061 0.68093 0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g1" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.04273 0.12727" quat="0.68093 0.19061 -0.68093 -0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g2" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stoppers_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stoppers" name="wine_rack_1_g3" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.07477 0.22072" quat="0.61020 -0.35728 -0.61020 0.35728" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.10912 0.09735" quat="0.35728 0.61020 -0.35728 -0.61020" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g5" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stand_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stand" name="wine_rack_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00657" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00450 0.06646 0.09302" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.06935 0.01006" quat="0.70560 -0.04613 -0.70560 0.04613" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g8" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.06430 0.01263" quat="0.04959 -0.70537 -0.04959 0.70537" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g9" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 0.02050" quat="0.70711 0.00000 0.70711 0.00000" size="0.00450 0.01410 0.09045" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g10" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00886 0.17026" quat="0.00000 0.00000 -0.13781 -0.99046" size="0.00762 0.00905 0.16165" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g11" />
-      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wine_rack_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.goal.json
deleted file mode 100644
index b5bca400040d3fada241bd73ab16dd37c53c8429..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,464 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "wine_bottle_1_main",
-      "region": "white_cabinet_1_bottom_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.009595632051193485,
-      0.30665239691095875,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.xml
deleted file mode 100644
index a86b13aebcf4f457f8b5ea56dcaf03a2bf92cbaa..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.xml
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-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00657" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00450 0.06646 0.09302" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.06935 0.01006" quat="0.70560 -0.04613 -0.70560 0.04613" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g8" />
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.goal.json
deleted file mode 100644
index 71f11ebeee1b0d1099071f752cc51d2d3999bddd..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.goal.json
+++ /dev/null
@@ -1,498 +0,0 @@
-{
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-      "fn": "on_site",
-      "obj": "wine_bottle_1_main",
-      "site": "wine_rack_1_top_region",
-      "obj_geoms": [
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-        131,
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-  "osc": {
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.xml b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.xml
deleted file mode 100644
index a86b13aebcf4f457f8b5ea56dcaf03a2bf92cbaa..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.xml
+++ /dev/null
@@ -1,590 +0,0 @@
-<mujoco model="base">
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-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
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-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <texture file="libero/scenes/../textures/new.png" type="cube" name="tex-table-new" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
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-    <texture file="libero/scenes/../textures/yellow_linen_wall_texture.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.3" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/kitchen_background/kitchen_background.png" name="tex-kitchen_background" type="2d" />
-    <material name="kitchen_background" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background/visual/kitchen_background_vis.msh" name="kitchen_background_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_pot/kitchen_background_pot.png" name="tex-kitchen_background_pot" type="2d" />
-    <material name="kitchen_background_pot" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_pot" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_pot/visual/kitchen_background_pot_vis.msh" name="kitchen_background_pot_vis" scale="0.01 0.01 0.01" />
-
-    <material name="kitchen_background_hot_pot" reflectance="0.5" rgba="0.4 0.4 0.4 1.0" />
-    <mesh file="libero/scenes/kitchen_background_hot_pot/visual/kitchen_background_hot_pot_vis.msh" name="kitchen_background_hot_pot_vis" scale="0.01 0.01 0.01" />
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-    <texture file="libero/scenes/kitchen_background_stove/kitchen_background_stove.png" name="tex-kitchen_background_stove" type="2d" />
-    <material name="kitchen_background_stove" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_stove" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_stove/visual/kitchen_background_stove_vis.msh" name="kitchen_background_stove_vis" scale="0.01 0.01 0.01" />
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-    <material name="kitchen_background_fridge" reflectance="0.9" texrepeat="1 1" texture="tex-kitchen_background_fridge" texuniform="false" />
-    <mesh file="libero/scenes/fridge/visual/fridge_vis.msh" name="kitchen_background_fridge_vis" scale="0.01 0.01 0.01" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom_handle" name="white_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_cabinet_1_default_site" /></body>
-          <body name="wine_rack_1_main">
-      <site type="box" pos="0 -0.08003 0.21745" quat="0.8549119 -0.5187733 0 0" size="0.10087 0.02200 0.00251" group="0" rgba="0.8 0.8 0.8 0" name="wine_rack_1_top_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_planes_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_planes" name="wine_rack_1_g0" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00610 0.25118" quat="0.68093 0.19061 0.68093 0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g1" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.04273 0.12727" quat="0.68093 0.19061 -0.68093 -0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g2" />
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-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stoppers_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stoppers" name="wine_rack_1_g3" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.07477 0.22072" quat="0.61020 -0.35728 -0.61020 0.35728" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.10912 0.09735" quat="0.35728 0.61020 -0.35728 -0.61020" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g5" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stand_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stand" name="wine_rack_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00657" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00450 0.06646 0.09302" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.06935 0.01006" quat="0.70560 -0.04613 -0.70560 0.04613" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g8" />
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-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 0.02050" quat="0.70711 0.00000 0.70711 0.00000" size="0.00450 0.01410 0.09045" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g10" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00886 0.17026" quat="0.00000 0.00000 -0.13781 -0.99046" size="0.00762 0.00905 0.16165" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g11" />
-      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wine_rack_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.goal.json
deleted file mode 100644
index a16382ace9cb38d8241b162db4bad9d652c23dba..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,481 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "all",
-      "op": "gt",
-      "thr": 0.0,
-      "qpos_addr": [
-        30
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
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-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
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-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet",
-  "body_pos": [
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-      0.0,
-      0.0
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-      0.875
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.xml
deleted file mode 100644
index 145dc8fa0442dc018020ba95beef48b23d12c5ed..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.xml
+++ /dev/null
@@ -1,539 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
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-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <texture file="libero/scenes/../textures/new.png" type="cube" name="tex-table-new" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/yellow_linen_wall_texture.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.3" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/kitchen_background/kitchen_background.png" name="tex-kitchen_background" type="2d" />
-    <material name="kitchen_background" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background/visual/kitchen_background_vis.msh" name="kitchen_background_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_pot/kitchen_background_pot.png" name="tex-kitchen_background_pot" type="2d" />
-    <material name="kitchen_background_pot" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_pot" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_pot/visual/kitchen_background_pot_vis.msh" name="kitchen_background_pot_vis" scale="0.01 0.01 0.01" />
-
-    <material name="kitchen_background_hot_pot" reflectance="0.5" rgba="0.4 0.4 0.4 1.0" />
-    <mesh file="libero/scenes/kitchen_background_hot_pot/visual/kitchen_background_hot_pot_vis.msh" name="kitchen_background_hot_pot_vis" scale="0.01 0.01 0.01" />
-
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-                <joint name="white_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="white_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_middle_handle" name="white_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g31" />
-	      </body>
-
-	      <body name="white_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="white_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom" name="white_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g37" />
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-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom_handle" name="white_cabinet_1_g39" />
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-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.goal.json
deleted file mode 100644
index e892a5ec7f666ff401444b5526301d6503d40b49..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,477 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "akita_black_bowl_1_main",
-      "region": "white_cabinet_1_top_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
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-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
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-      -0.161037389,
-      0.0,
-      -2.44459747,
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-      0.7853981633974483
-    ],
-    "torque_limits": [
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-        -80.0,
-        -80.0,
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-        -80.0,
-        -12.0,
-        -12.0
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-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet",
-  "body_pos": [
-    [
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.xml
deleted file mode 100644
index 145dc8fa0442dc018020ba95beef48b23d12c5ed..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.xml
+++ /dev/null
@@ -1,539 +0,0 @@
-<mujoco model="base">
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-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
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-  <asset>
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-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <texture file="libero/scenes/../textures/new.png" type="cube" name="tex-table-new" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
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-    <texture file="libero/scenes/../textures/yellow_linen_wall_texture.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.3" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_top_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_top_handle" name="white_cabinet_1_g17" />		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.18393" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g20" />
-	      </body>
-
-	      <body name="white_cabinet_1_cabinet_middle" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="white_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_middle_handle" name="white_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g31" />
-	      </body>
-
-	      <body name="white_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="white_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom" name="white_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g34" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom_handle" name="white_cabinet_1_g39" />
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-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_the_plate.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_the_plate.goal.json
deleted file mode 100644
index 0b2e1f5d5f1a4508100396e7ee283964c4cd61b9..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_the_plate.goal.json
+++ /dev/null
@@ -1,531 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "akita_black_bowl_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
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-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
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-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123,
-        124,
-        125,
-        126
-      ],
-      "obj2_geoms": [
-        128,
-        129,
-        130,
-        131,
-        132,
-        133,
-        134,
-        135,
-        136,
-        137
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
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-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
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-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE5_put_the_black_bowl_on_the_plate",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
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-      0.875
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_the_plate.xml b/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_the_plate.xml
deleted file mode 100644
index 145dc8fa0442dc018020ba95beef48b23d12c5ed..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_the_plate.xml
+++ /dev/null
@@ -1,539 +0,0 @@
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_top_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_top" name="white_cabinet_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.18309" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.18358" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.18358" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.15514" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g16" />
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_top_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_top_handle" name="white_cabinet_1_g17" />		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.18393" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g20" />
-	      </body>
-
-	      <body name="white_cabinet_1_cabinet_middle" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="white_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_middle" name="white_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_middle_handle" name="white_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g31" />
-	      </body>
-
-	      <body name="white_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="white_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom" name="white_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom_handle" name="white_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.goal.json
deleted file mode 100644
index b284c03d098ea76b6e19835fac63342c809ffc43..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,557 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "akita_black_bowl_1_main",
-      "site": "white_cabinet_1_top_side",
-      "obj_geoms": [
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123,
-        124,
-        125,
-        126
-      ],
-      "parent_geoms": [
-        152,
-        153,
-        154,
-        155,
-        156,
-        157,
-        158,
-        159,
-        160,
-        162,
-        163,
-        164,
-        165,
-        166,
-        167,
-        169,
-        170,
-        171,
-        173,
-        174,
-        175,
-        176,
-        177,
-        178,
-        180,
-        181,
-        182,
-        184,
-        185,
-        186,
-        187,
-        188,
-        189,
-        191,
-        192,
-        193
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
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-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
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-      0.0524
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-      0.0,
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-      0.056
-    ],
-    [
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-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
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-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
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-      0.0
-    ],
-    [
-      -0.009595632051193485,
-      0.30665239691095875,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
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-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
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-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
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-    [
-      1.0,
-      0.0,
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.xml
deleted file mode 100644
index 145dc8fa0442dc018020ba95beef48b23d12c5ed..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.xml
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-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.11898 0.01625 0.11426" quat="0.00000 1.00000 0.00000 0.00000" size="0.00517 0.09542 0.10584" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00211 0.10938 0.11426" quat="0.49997 0.49997 -0.50003 -0.50003" size="0.00231 0.10584 0.11912" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g5" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00376 0.01868 0.14935" quat="0.70792 0.00065 0.70629 -0.00065" size="0.00085 0.08935 0.11168" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00408 0.01868 0.00933" quat="0.00065 -0.70792 0.00065 0.70629" size="0.00085 0.08935 0.11168" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00392 0.01868 0.07928" quat="0.70792 0.00065 0.70629 -0.00065" size="0.00085 0.08935 0.11168" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g8" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00394 0.01577 0.22157" quat="0.70711 0.00000 0.70711 0.00000" size="0.00142 0.09409 0.12729" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g9" />
-	      <body name="white_cabinet_1_cabinet_top" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_top_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site type="box" pos="0.00328 0.01128 0.18563" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" name="white_cabinet_1_top_region" />
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_top_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_top" name="white_cabinet_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.18309" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.18358" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.18358" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.15514" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g16" />
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_top_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_top_handle" name="white_cabinet_1_g17" />		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.18393" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g20" />
-	      </body>
-
-	      <body name="white_cabinet_1_cabinet_middle" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="white_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_middle" name="white_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_middle_handle" name="white_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g31" />
-	      </body>
-
-	      <body name="white_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="white_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom" name="white_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom_handle" name="white_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.goal.json
deleted file mode 100644
index a315b90f2fbd1fe72a2ffc1deb6ada75a9bd9fd9..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,477 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "ketchup_1_main",
-      "region": "white_cabinet_1_top_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.009595632051193485,
-      0.30665239691095875,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.xml
deleted file mode 100644
index 145dc8fa0442dc018020ba95beef48b23d12c5ed..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.xml
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-	      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_base_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_base" name="white_cabinet_1_g0" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00397 0.10954 0.11350" quat="0.49988 -0.50104 -0.50012 0.49896" size="0.00193 0.10453 0.11106" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g1" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00405 0.01635 0.00686" quat="0.70792 0.00065 0.70629 -0.00065" size="0.00199 0.08960 0.12277" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g2" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.11216 0.01625 0.11426" quat="0.00000 0.00000 1.00000 0.00000" size="0.00517 0.09542 0.10584" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g3" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.11898 0.01625 0.11426" quat="0.00000 1.00000 0.00000 0.00000" size="0.00517 0.09542 0.10584" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00211 0.10938 0.11426" quat="0.49997 0.49997 -0.50003 -0.50003" size="0.00231 0.10584 0.11912" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g5" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00376 0.01868 0.14935" quat="0.70792 0.00065 0.70629 -0.00065" size="0.00085 0.08935 0.11168" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00408 0.01868 0.00933" quat="0.00065 -0.70792 0.00065 0.70629" size="0.00085 0.08935 0.11168" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00392 0.01868 0.07928" quat="0.70792 0.00065 0.70629 -0.00065" size="0.00085 0.08935 0.11168" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g8" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00394 0.01577 0.22157" quat="0.70711 0.00000 0.70711 0.00000" size="0.00142 0.09409 0.12729" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g9" />
-	      <body name="white_cabinet_1_cabinet_top" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_top_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site type="box" pos="0.00328 0.01128 0.18563" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" name="white_cabinet_1_top_region" />
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_top_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_top" name="white_cabinet_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.18309" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.18358" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.18358" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.15514" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g16" />
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_top_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_top_handle" name="white_cabinet_1_g17" />		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.18393" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g20" />
-	      </body>
-
-	      <body name="white_cabinet_1_cabinet_middle" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="white_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_middle" name="white_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_middle_handle" name="white_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g31" />
-	      </body>
-
-	      <body name="white_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="white_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="white_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom" name="white_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_1_white_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_1_white_cabinet_bottom_handle" name="white_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="white_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_cabinet_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE6_close_the_microwave.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE6_close_the_microwave.goal.json
deleted file mode 100644
index 0b3f6b41672e386fbdca66c5d8e8fb63826f5949..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE6_close_the_microwave.goal.json
+++ /dev/null
@@ -1,420 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "all",
-      "op": "gt",
-      "thr": -0.005,
-      "qpos_addr": [
-        23
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE6_close_the_microwave",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.009595632051193485,
-      0.35665239691095874,
-      0.9199999999999999
-    ],
-    [
-      -0.1725,
-      -0.088,
-      0.096
-    ]
-  ],
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE6_close_the_microwave.xml b/libero/tasks/libero_90/KITCHEN_SCENE6_close_the_microwave.xml
deleted file mode 100644
index 171b050ce9597d081875790d2bf1e678c1a4fbfe..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE6_close_the_microwave.xml
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-                <geom material="microwave_1_micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 -0.065" size="0.01 0.015" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g13" />
-
-                <geom pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g14" />
-                <geom euler="1.57 0 0" pos="0.2375 -0.0375 .065" size="0.01 0.015" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g15" />
-                <geom euler="1.57 0 0" pos="0.2375 -0.0375 -.065" size="0.01 0.015" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g16" />
-                <geom pos="0.1295 -0.013 0" size="0.1295 0.012 0.0925" type="box" mass="0.20" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g17" />
-            </body>
-        <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="microwave_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.goal.json
deleted file mode 100644
index e1d6c00930a6b38abcbd5db981e89a050897df2a..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.goal.json
+++ /dev/null
@@ -1,458 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "white_yellow_mug_1_main",
-      "site": "kitchen_table_porcelain_mug_front_region",
-      "obj_geoms": [
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123,
-        124,
-        125,
-        126,
-        127,
-        128,
-        129,
-        130,
-        131,
-        132,
-        133,
-        134,
-        135,
-        136,
-        137,
-        138,
-        139,
-        140,
-        141,
-        142,
-        143,
-        144,
-        145,
-        146,
-        147,
-        148
-      ],
-      "parent_geoms": null
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
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-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug",
-  "body_pos": [
-    [
-      0.0,
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-  ],
-  "body_quat": [
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-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.xml b/libero/tasks/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.xml
deleted file mode 100644
index 171b050ce9597d081875790d2bf1e678c1a4fbfe..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.xml
+++ /dev/null
@@ -1,484 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <texture file="libero/scenes/../textures/new.png" type="cube" name="tex-table-new" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/yellow_linen_wall_texture.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.3" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/kitchen_background/kitchen_background.png" name="tex-kitchen_background" type="2d" />
-    <material name="kitchen_background" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background/visual/kitchen_background_vis.msh" name="kitchen_background_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_pot/kitchen_background_pot.png" name="tex-kitchen_background_pot" type="2d" />
-    <material name="kitchen_background_pot" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_pot" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_pot/visual/kitchen_background_pot_vis.msh" name="kitchen_background_pot_vis" scale="0.01 0.01 0.01" />
-
-    <material name="kitchen_background_hot_pot" reflectance="0.5" rgba="0.4 0.4 0.4 1.0" />
-    <mesh file="libero/scenes/kitchen_background_hot_pot/visual/kitchen_background_hot_pot_vis.msh" name="kitchen_background_hot_pot_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/kitchen_background_stove/kitchen_background_stove.png" name="tex-kitchen_background_stove" type="2d" />
-    <material name="kitchen_background_stove" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_stove" texuniform="false" />
-    <mesh file="libero/scenes/kitchen_background_stove/visual/kitchen_background_stove_vis.msh" name="kitchen_background_stove_vis" scale="0.01 0.01 0.01" />
-
-    <texture file="libero/scenes/fridge/metal.png" name="tex-kitchen_background_fridge" type="2d" />
-    <material name="kitchen_background_fridge" reflectance="0.9" texrepeat="1 1" texture="tex-kitchen_background_fridge" texuniform="false" />
-    <mesh file="libero/scenes/fridge/visual/fridge_vis.msh" name="kitchen_background_fridge_vis" scale="0.01 0.01 0.01" />
-
-  <mesh name="robot0_link0" file="robosuite/robots/panda/meshes/link0.stl" />
-        <mesh name="robot0_link1" file="robosuite/robots/panda/meshes/link1.stl" />
-        <mesh name="robot0_link2" file="robosuite/robots/panda/meshes/link2.stl" />
-        <mesh name="robot0_link3" file="robosuite/robots/panda/meshes/link3.stl" />
-        <mesh name="robot0_link4" file="robosuite/robots/panda/meshes/link4.stl" />
-        <mesh name="robot0_link5" file="robosuite/robots/panda/meshes/link5.stl" />
-        <mesh name="robot0_link6" file="robosuite/robots/panda/meshes/link6.stl" />
-        <mesh name="robot0_link7" file="robosuite/robots/panda/meshes/link7.stl" />
-
-        
-	<material name="robot0_Face636_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
-	<material name="robot0_Part__Feature017_001" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
-	<material name="robot0_Part__Feature018_001" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
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-	<material name="robot0_Part__Feature023_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
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-	<material name="robot0_Shell003_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
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-	<material name="robot0_Shell010_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
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-	<mesh name="robot0_link0_vis_0" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj" />
-	<mesh name="robot0_link0_vis_1" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj" />
-	<mesh name="robot0_link0_vis_2" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj" />
-	<mesh name="robot0_link0_vis_3" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj" />
-	<mesh name="robot0_link0_vis_4" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj" />
-	<mesh name="robot0_link0_vis_5" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj" />
-	<mesh name="robot0_link0_vis_6" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj" />
-	<mesh name="robot0_link0_vis_7" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj" />
-	<mesh name="robot0_link0_vis_8" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj" />
-	<mesh name="robot0_link0_vis_9" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj" />
-	<mesh name="robot0_link0_vis_10" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj" />
-	<mesh name="robot0_link0_vis_11" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj" />
-
-        
-	<material name="robot0_Part__Feature_001" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
-	<mesh name="robot0_link1_vis" file="robosuite/robots/panda/obj_meshes/link1_vis/link1_vis.obj" />
-
-
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-	<material name="robot0_Part__Feature024" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
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-0.46735" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g33" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00801 -0.01666 0.01060" quat="0.91668 0.08211 0.30004 -0.25086" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g34" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 -0.00000 0.00274" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00250 0.01861 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g35" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 -0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g36" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g37" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04120 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g38" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00460 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g39" /><joint type="free" damping="0.0005" name="white_yellow_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_yellow_mug_1_default_site" /></body>
-      <body name="microwave_1_main">
-            <geom mesh="microwave_1_micro" conaffinity="0" contype="0" group="1" material="microwave_1_micro_black" type="mesh" name="microwave_1_g0" />
-            <geom material="microwave_1_micro_metal" mesh="microwave_1_microbutton" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g1" />
-            <geom material="microwave_1_micro_metal" mesh="microwave_1_microfeet" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g2" />
-	    <site rgba="1 0 0 0" type="box" pos="0.0 0.01 0.20" quat="1 0 0 0" size="0.12 0.0835 0.005" name="microwave_1_top_side" />
-	    <site rgba="1 0 0 0" type="box" pos="0.0 0.01 0.096" quat="1 0 0 0" size="0.12 0.0835 0.08" name="microwave_1_heating_region" />
-            <geom pos="-0.158 0.0115 0.0935" size="0.0145 0.09955 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g3" />
-            <geom pos="0.118 0.0115 0.0935" size="0.0545 0.09955 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g4" />
-            <geom pos="-0.0405 0.0955 0.0935" size="0.1035 0.015 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g5" />
-            <geom pos="-0.04 -0.0035 0.1775" size="0.1035 0.0845 0.0095" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g6" />
-            <geom pos="-0.04 -0.004 0.012" size="0.1035 0.084 0.012" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g7" />
-            <geom pos="0.13 -0.0985 0.0935" size="0.0425 0.012 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g8" />
-            <body name="microwave_1_microdoorroot" pos="-0.1725 -0.088 0.096">
-                <joint type="hinge" axis="0 0 1" limited="true" name="microwave_1_microjoint" range="-2.094 0" damping="0.5" />
-                <geom mesh="microwave_1_microdoor" pos="0.1725 0.088 -0.096" conaffinity="0" contype="0" group="1" material="microwave_1_micro_black" type="mesh" name="microwave_1_g9" />
-                <geom material="microwave_1_micro_window" mesh="microwave_1_microwindow" pos="0.1725 0.088 -0.096" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g10" />
-                <geom material="microwave_1_micro_metal" pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g11" />
-                <geom material="microwave_1_micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 0.065" size="0.01 0.015" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g12" />
-                <geom material="microwave_1_micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 -0.065" size="0.01 0.015" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g13" />
-
-                <geom pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g14" />
-                <geom euler="1.57 0 0" pos="0.2375 -0.0375 .065" size="0.01 0.015" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g15" />
-                <geom euler="1.57 0 0" pos="0.2375 -0.0375 -.065" size="0.01 0.015" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g16" />
-                <geom pos="0.1295 -0.013 0" size="0.1295 0.012 0.0925" type="box" mass="0.20" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g17" />
-            </body>
-        <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="microwave_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE7_open_the_microwave.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE7_open_the_microwave.goal.json
deleted file mode 100644
index f5336eba900bb5f1a13c76c9a6b3c9c751304a8a..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE7_open_the_microwave.goal.json
+++ /dev/null
@@ -1,420 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "any",
-      "op": "lt",
-      "thr": -1.3,
-      "qpos_addr": [
-        23
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE7_open_the_microwave",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.00583450076165329,
-      -0.2494221016049419,
-      0.9199999999999999
-    ],
-    [
-      -0.1725,
-      -0.088,
-      0.096
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      6.123233995736766e-17,
-      0.0,
-      0.0,
-      1.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "init_state": [
-    0.0,
-    0.0,
-    -0.161037389,
-    0.0,
-    -2.44459747,
-    0.0,
-    2.2267522,
-    0.7853981633974483,
-    0.020833,
-    -0.020833,
-    -0.027750211417523908,
-    -0.24827933558699308,
-    1.24,
-    0.7071067811865476,
-    0.0,
-    0.0,
-    0.7071067811865477,
-    0.021279831914633056,
-    -0.021448197090105654,
-    0.97,
-    0.7071067811865476,
-    0.0,
-    0.0,
-    0.7071067811865477,
-    -0.0030827924058711115,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0
-  ]
-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE7_open_the_microwave.xml b/libero/tasks/libero_90/KITCHEN_SCENE7_open_the_microwave.xml
deleted file mode 100644
index 0960c2fd6f96f41c2154e87ab96a852a8649032e..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE7_open_the_microwave.xml
+++ /dev/null
@@ -1,484 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <texture file="libero/scenes/../textures/new.png" type="cube" name="tex-table-new" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/yellow_linen_wall_texture.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.3" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/kitchen_background/kitchen_background.png" name="tex-kitchen_background" type="2d" />
-    <material name="kitchen_background" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background" texuniform="false" />
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="plate_1_model_vis" conaffinity="0" contype="0" group="1" material="plate_1_model" name="plate_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g10" /><joint type="free" damping="0.0005" name="plate_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="plate_1_default_site" /></body>
-      <body name="microwave_1_main">
-            <geom mesh="microwave_1_micro" conaffinity="0" contype="0" group="1" material="microwave_1_micro_black" type="mesh" name="microwave_1_g0" />
-            <geom material="microwave_1_micro_metal" mesh="microwave_1_microbutton" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g1" />
-            <geom material="microwave_1_micro_metal" mesh="microwave_1_microfeet" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g2" />
-	    <site rgba="1 0 0 0" type="box" pos="0.0 0.01 0.20" quat="1 0 0 0" size="0.12 0.0835 0.005" name="microwave_1_top_side" />
-	    <site rgba="1 0 0 0" type="box" pos="0.0 0.01 0.096" quat="1 0 0 0" size="0.12 0.0835 0.08" name="microwave_1_heating_region" />
-            <geom pos="-0.158 0.0115 0.0935" size="0.0145 0.09955 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g3" />
-            <geom pos="0.118 0.0115 0.0935" size="0.0545 0.09955 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g4" />
-            <geom pos="-0.0405 0.0955 0.0935" size="0.1035 0.015 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g5" />
-            <geom pos="-0.04 -0.0035 0.1775" size="0.1035 0.0845 0.0095" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g6" />
-            <geom pos="-0.04 -0.004 0.012" size="0.1035 0.084 0.012" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g7" />
-            <geom pos="0.13 -0.0985 0.0935" size="0.0425 0.012 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g8" />
-            <body name="microwave_1_microdoorroot" pos="-0.1725 -0.088 0.096">
-                <joint type="hinge" axis="0 0 1" limited="true" name="microwave_1_microjoint" range="-2.094 0" damping="0.5" />
-                <geom mesh="microwave_1_microdoor" pos="0.1725 0.088 -0.096" conaffinity="0" contype="0" group="1" material="microwave_1_micro_black" type="mesh" name="microwave_1_g9" />
-                <geom material="microwave_1_micro_window" mesh="microwave_1_microwindow" pos="0.1725 0.088 -0.096" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g10" />
-                <geom material="microwave_1_micro_metal" pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g11" />
-                <geom material="microwave_1_micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 0.065" size="0.01 0.015" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g12" />
-                <geom material="microwave_1_micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 -0.065" size="0.01 0.015" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g13" />
-
-                <geom pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g14" />
-                <geom euler="1.57 0 0" pos="0.2375 -0.0375 .065" size="0.01 0.015" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g15" />
-                <geom euler="1.57 0 0" pos="0.2375 -0.0375 -.065" size="0.01 0.015" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g16" />
-                <geom pos="0.1295 -0.013 0" size="0.1295 0.012 0.0925" type="box" mass="0.20" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g17" />
-            </body>
-        <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="microwave_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.goal.json
deleted file mode 100644
index f7eada1d829bf9727dcefecf0eb665c3a00c0d13..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.goal.json
+++ /dev/null
@@ -1,466 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "white_bowl_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122
-      ],
-      "obj2_geoms": [
-        124,
-        125,
-        126,
-        127,
-        128,
-        129,
-        130,
-        131,
-        132,
-        133
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE7_put_the_white_bowl_on_the_plate",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
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-      0.0,
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-      0.875
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-      0.0825,
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-      0.384,
-      0.0
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-      0.1065
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-      0.9199999999999999
-    ],
-    [
-      -0.1725,
-      -0.088,
-      0.096
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
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-    ],
-    [
-      1.0,
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-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.xml b/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.xml
deleted file mode 100644
index 0960c2fd6f96f41c2154e87ab96a852a8649032e..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.xml
+++ /dev/null
@@ -1,484 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <texture file="libero/scenes/../textures/new.png" type="cube" name="tex-table-new" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="plate_1_model_vis" conaffinity="0" contype="0" group="1" material="plate_1_model" name="plate_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g10" /><joint type="free" damping="0.0005" name="plate_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="plate_1_default_site" /></body>
-      <body name="microwave_1_main">
-            <geom mesh="microwave_1_micro" conaffinity="0" contype="0" group="1" material="microwave_1_micro_black" type="mesh" name="microwave_1_g0" />
-            <geom material="microwave_1_micro_metal" mesh="microwave_1_microbutton" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g1" />
-            <geom material="microwave_1_micro_metal" mesh="microwave_1_microfeet" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g2" />
-	    <site rgba="1 0 0 0" type="box" pos="0.0 0.01 0.20" quat="1 0 0 0" size="0.12 0.0835 0.005" name="microwave_1_top_side" />
-	    <site rgba="1 0 0 0" type="box" pos="0.0 0.01 0.096" quat="1 0 0 0" size="0.12 0.0835 0.08" name="microwave_1_heating_region" />
-            <geom pos="-0.158 0.0115 0.0935" size="0.0145 0.09955 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g3" />
-            <geom pos="0.118 0.0115 0.0935" size="0.0545 0.09955 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g4" />
-            <geom pos="-0.0405 0.0955 0.0935" size="0.1035 0.015 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g5" />
-            <geom pos="-0.04 -0.0035 0.1775" size="0.1035 0.0845 0.0095" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g6" />
-            <geom pos="-0.04 -0.004 0.012" size="0.1035 0.084 0.012" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g7" />
-            <geom pos="0.13 -0.0985 0.0935" size="0.0425 0.012 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g8" />
-            <body name="microwave_1_microdoorroot" pos="-0.1725 -0.088 0.096">
-                <joint type="hinge" axis="0 0 1" limited="true" name="microwave_1_microjoint" range="-2.094 0" damping="0.5" />
-                <geom mesh="microwave_1_microdoor" pos="0.1725 0.088 -0.096" conaffinity="0" contype="0" group="1" material="microwave_1_micro_black" type="mesh" name="microwave_1_g9" />
-                <geom material="microwave_1_micro_window" mesh="microwave_1_microwindow" pos="0.1725 0.088 -0.096" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g10" />
-                <geom material="microwave_1_micro_metal" pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g11" />
-                <geom material="microwave_1_micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 0.065" size="0.01 0.015" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g12" />
-                <geom material="microwave_1_micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 -0.065" size="0.01 0.015" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g13" />
-
-                <geom pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g14" />
-                <geom euler="1.57 0 0" pos="0.2375 -0.0375 .065" size="0.01 0.015" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g15" />
-                <geom euler="1.57 0 0" pos="0.2375 -0.0375 -.065" size="0.01 0.015" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g16" />
-                <geom pos="0.1295 -0.013 0" size="0.1295 0.012 0.0925" type="box" mass="0.20" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g17" />
-            </body>
-        <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="microwave_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.goal.json
deleted file mode 100644
index f52ed4e70d3f59fc8839381dacb61b3468033c95..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.goal.json
+++ /dev/null
@@ -1,455 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "white_bowl_1_main",
-      "site": "kitchen_table_plate_right_region",
-      "obj_geoms": [
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122
-      ],
-      "parent_geoms": null
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
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-      0.0,
-      0.912
-    ],
-    [
-      0.0,
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-      0.0
-    ],
-    [
-      0.0,
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-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
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-      0.0,
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-      0.097
-    ],
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-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
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-      0.0,
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-      0.0524
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-    [
-      0.0,
-      -0.0085,
-      0.056
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-      0.0,
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-      0.01
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-      0.00583450076165329,
-      -0.2494221016049419,
-      0.9199999999999999
-    ],
-    [
-      -0.1725,
-      -0.088,
-      0.096
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
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-      1.0,
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-      0.7071067811865475,
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-      0.0,
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-    [
-      0.7071067811865475,
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-      0.0,
-      0.0
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-    [
-      0.7071067811865475,
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-      0.0,
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-    [
-      0.7071067811865475,
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-      0.0,
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-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
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-      0.7071067811865475,
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-      0.7071067811865475,
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-      1.0,
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-      0.7071067811865475,
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-      1.0,
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-      0.7071067811865475,
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-      0.7071067811865475
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-    [
-      1.0,
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-      1.0,
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-      0.0,
-      0.0
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-      1.0,
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-      1.0,
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-      1.0,
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-    [
-      6.123233995736766e-17,
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-      1.0
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-    [
-      1.0,
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-      0.0
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-  ],
-  "init_state": [
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-    0.0,
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-    0.0,
-    2.2267522,
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-    0.020833,
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-    -0.24827933558699308,
-    1.24,
-    0.7071067811865476,
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-    0.0,
-    0.0
-  ]
-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.xml b/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.xml
deleted file mode 100644
index 0960c2fd6f96f41c2154e87ab96a852a8649032e..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.xml
+++ /dev/null
@@ -1,484 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <texture file="libero/scenes/../textures/new.png" type="cube" name="tex-table-new" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="plate_1_model_vis" conaffinity="0" contype="0" group="1" material="plate_1_model" name="plate_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g10" /><joint type="free" damping="0.0005" name="plate_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="plate_1_default_site" /></body>
-      <body name="microwave_1_main">
-            <geom mesh="microwave_1_micro" conaffinity="0" contype="0" group="1" material="microwave_1_micro_black" type="mesh" name="microwave_1_g0" />
-            <geom material="microwave_1_micro_metal" mesh="microwave_1_microbutton" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g1" />
-            <geom material="microwave_1_micro_metal" mesh="microwave_1_microfeet" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g2" />
-	    <site rgba="1 0 0 0" type="box" pos="0.0 0.01 0.20" quat="1 0 0 0" size="0.12 0.0835 0.005" name="microwave_1_top_side" />
-	    <site rgba="1 0 0 0" type="box" pos="0.0 0.01 0.096" quat="1 0 0 0" size="0.12 0.0835 0.08" name="microwave_1_heating_region" />
-            <geom pos="-0.158 0.0115 0.0935" size="0.0145 0.09955 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g3" />
-            <geom pos="0.118 0.0115 0.0935" size="0.0545 0.09955 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g4" />
-            <geom pos="-0.0405 0.0955 0.0935" size="0.1035 0.015 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g5" />
-            <geom pos="-0.04 -0.0035 0.1775" size="0.1035 0.0845 0.0095" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g6" />
-            <geom pos="-0.04 -0.004 0.012" size="0.1035 0.084 0.012" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g7" />
-            <geom pos="0.13 -0.0985 0.0935" size="0.0425 0.012 0.0935" type="box" mass=".5" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g8" />
-            <body name="microwave_1_microdoorroot" pos="-0.1725 -0.088 0.096">
-                <joint type="hinge" axis="0 0 1" limited="true" name="microwave_1_microjoint" range="-2.094 0" damping="0.5" />
-                <geom mesh="microwave_1_microdoor" pos="0.1725 0.088 -0.096" conaffinity="0" contype="0" group="1" material="microwave_1_micro_black" type="mesh" name="microwave_1_g9" />
-                <geom material="microwave_1_micro_window" mesh="microwave_1_microwindow" pos="0.1725 0.088 -0.096" conaffinity="0" contype="0" group="1" type="mesh" name="microwave_1_g10" />
-                <geom material="microwave_1_micro_metal" pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g11" />
-                <geom material="microwave_1_micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 0.065" size="0.01 0.015" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g12" />
-                <geom material="microwave_1_micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 -0.065" size="0.01 0.015" type="capsule" conaffinity="0" contype="0" group="1" name="microwave_1_g13" />
-
-                <geom pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g14" />
-                <geom euler="1.57 0 0" pos="0.2375 -0.0375 .065" size="0.01 0.015" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g15" />
-                <geom euler="1.57 0 0" pos="0.2375 -0.0375 -.065" size="0.01 0.015" type="capsule" mass="0.020" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g16" />
-                <geom pos="0.1295 -0.013 0" size="0.1295 0.012 0.0925" type="box" mass="0.20" conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="microwave_1_micro_collision_blue" solimp=".8 .9 .01" solref=".02 1" name="microwave_1_g17" />
-            </body>
-        <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="microwave_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.goal.json
deleted file mode 100644
index 507b803cc8f2c85c047c902688cd7fb9712c4d1a..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.goal.json
+++ /dev/null
@@ -1,497 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "moka_pot_1_main",
-      "site": "flat_stove_1_cook_region",
-      "obj_geoms": [
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102
-      ],
-      "parent_geoms": [
-        121,
-        122,
-        125,
-        126,
-        127,
-        128,
-        129,
-        130,
-        131,
-        132,
-        133,
-        134,
-        135,
-        136,
-        137,
-        138,
-        139,
-        140,
-        141,
-        142
-      ]
-    },
-    {
-      "fn": "joint",
-      "reduce": "any",
-      "op": "ge",
-      "thr": 0.5,
-      "qpos_addr": [
-        23
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
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-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
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-      0.0
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-      0.0,
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-      0.333
-    ],
-    [
-      0.0,
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-      0.0
-    ],
-    [
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-      -0.316,
-      0.0
-    ],
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-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
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-    [
-      0.0,
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-      0.1065
-    ],
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-      0.0,
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-      0.0
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-    [
-      0.0,
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-      0.097
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-      0.0524
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-      0.15,
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-    [
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-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
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-      0.0
-    ],
-    [
-      1.0,
-      0.0,
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-      0.7071067811865475,
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-    [
-      0.7071067811865475,
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-      0.7071067811865475,
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-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
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-      0.7071067811865475,
-      0.7071067811865475,
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-      0.7071067811865475,
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-    [
-      0.923785244892942,
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-    [
-      0.7071067811865475,
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-    [
-      1.0,
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-      0.0,
-      0.0
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-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
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-    [
-      1.0,
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-    [
-      0.7071067811865475,
-      0.0,
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-      0.7071067811865475
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-    [
-      1.0,
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-    [
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-    [
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-      1.0,
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-    [
-      1.0,
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-      1.0,
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-    [
-      1.0,
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-    [
-      0.7071067811865476,
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-  ],
-  "init_state": [
-    0.0,
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-    0.0,
-    -2.44459747,
-    0.0,
-    2.2267522,
-    0.7853981633974483,
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-    0.0,
-    0.0,
-    0.0,
-    0.0
-  ]
-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.xml b/libero/tasks/libero_90/KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.xml
deleted file mode 100644
index 92968ee5df67aa58b49b9987ab023629529da605..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.xml
+++ /dev/null
@@ -1,504 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
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-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE8_turn_off_the_stove.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE8_turn_off_the_stove.goal.json
deleted file mode 100644
index 433ab210428ec8fe3c49d24e925f46631d591816..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE8_turn_off_the_stove.goal.json
+++ /dev/null
@@ -1,453 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "all",
-      "op": "lt",
-      "thr": 0.0,
-      "qpos_addr": [
-        23
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE8_turn_off_the_stove",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.19416549923834672,
-      -0.19942210160494192,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.15,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE8_turn_off_the_stove.xml b/libero/tasks/libero_90/KITCHEN_SCENE8_turn_off_the_stove.xml
deleted file mode 100644
index 92968ee5df67aa58b49b9987ab023629529da605..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE8_turn_off_the_stove.xml
+++ /dev/null
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00000 0.00044" quat="0.00000 0.00000 0.00000 1.00000" size="0.02500 0.02500 0.06655" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.02594 0.00044" quat="0.00000 0.70711 0.70711 0.00000" size="0.00505 0.02500 0.06655" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.02955 0.00044" quat="0.00000 0.70711 0.70711 0.00000" size="0.00505 0.02500 0.06655" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03017 0.01254 0.00044" quat="0.00000 -0.19372 0.98106 0.00000" size="0.00420 0.01719 0.06655" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02934 -0.01403 0.00044" quat="-0.00000 -0.98106 -0.19372 -0.00000" size="0.00420 0.01719 0.06655" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02962 -0.01403 0.00044" quat="0.00000 -0.97505 0.22201 0.00000" size="0.00420 0.01719 0.06655" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02934 0.01509 0.00044" quat="0.00000 -0.97505 0.22201 0.00000" size="0.00420 0.01719 0.06655" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.03591 0.04260" quat="0.00000 0.70711 0.70711 0.00000" size="0.00577 0.01762 0.02451" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.04910 0.04619" quat="0.00000 0.70711 0.70711 0.00000" size="0.00721 0.00802 0.01374" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04159 0.05249" quat="0.00000 0.70711 0.70711 0.00000" size="0.00721 0.01021 0.01374" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.05829 0.06027" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.00655 0.00697 0.01409" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07546 0.05391" quat="0.00000 0.00000 -0.90919 -0.41638" size="0.00655 0.00697 0.01409" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07247 0.02824" quat="0.00000 -0.00000 -0.23224 -0.97266" size="0.00655 0.00710 0.02750" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00013 0.05763 0.00230" quat="0.00000 -0.00000 0.92514 -0.37963" size="0.00655 0.00707 0.01007" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00134 0.07429" quat="0.00000 0.00000 1.00000 0.00000" size="0.00524 0.00598 0.01140" group="0" rgba="0.8 0.8 0.8 0.3" name="moka_pot_2_g16" /><joint type="free" damping="0.0005" name="moka_pot_2_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="moka_pot_2_default_site" /></body>
-      <body name="flat_stove_1_main">
-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.goal.json
deleted file mode 100644
index fcd68523166bed05e7aa2fac56c2b38789aee506..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.goal.json
+++ /dev/null
@@ -1,460 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "chefmate_8_frypan_1_main",
-      "region": "wooden_two_layer_shelf_1_top_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.19072674478997942,
-      0.29766883037651554,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.15,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0066523969109587595,
-      -0.24443686498100298,
-      0.9199999999999999
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.xml b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.xml
deleted file mode 100644
index 7e6d2f89fdb478f21e71adb8cb8caa1737734acc..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.xml
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-	      </body>
-	    </body>
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-          <body name="wooden_two_layer_shelf_1_main">
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-  <equality>
-  </equality>
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.goal.json
deleted file mode 100644
index 94a5fd7a72bb01e7fbd41c24dd4c45e85a1030ad..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,495 +0,0 @@
-{
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-      "site": "wooden_two_layer_shelf_1_top_side",
-      "obj_geoms": [
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-        125,
-        126,
-        127,
-        128,
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-      "parent_geoms": [
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-        174,
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-        176,
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-        178
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-    }
-  ],
-  "osc": {
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-    "arm_qvel_index": [
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-      4,
-      5,
-      6
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-    "substeps": 25
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.xml
deleted file mode 100644
index 7e6d2f89fdb478f21e71adb8cb8caa1737734acc..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.xml
+++ /dev/null
@@ -1,495 +0,0 @@
-<mujoco model="base">
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-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/kitchen_background/kitchen_background.png" name="tex-kitchen_background" type="2d" />
-    <material name="kitchen_background" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background" texuniform="false" />
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-    <texture file="libero/scenes/kitchen_background_pot/kitchen_background_pot.png" name="tex-kitchen_background_pot" type="2d" />
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-    <material name="kitchen_background_hot_pot" reflectance="0.5" rgba="0.4 0.4 0.4 1.0" />
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.goal.json
deleted file mode 100644
index 486c06325fccdae50682734324df0cab03861552..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.goal.json
+++ /dev/null
@@ -1,460 +0,0 @@
-{
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-      "region": "wooden_two_layer_shelf_1_bottom_region"
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.xml b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.xml
deleted file mode 100644
index 7e6d2f89fdb478f21e71adb8cb8caa1737734acc..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.xml
+++ /dev/null
@@ -1,495 +0,0 @@
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-    <texture file="libero/scenes/kitchen_background_pot/kitchen_background_pot.png" name="tex-kitchen_background_pot" type="2d" />
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-    <mesh file="libero/scenes/kitchen_background_pot/visual/kitchen_background_pot_vis.msh" name="kitchen_background_pot_vis" scale="0.01 0.01 0.01" />
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-    <material name="kitchen_background_hot_pot" reflectance="0.5" rgba="0.4 0.4 0.4 1.0" />
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/><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03091 -0.08268 0.02231" quat="0.22073 -0.54723 0.79284 0.15235" size="0.00357 0.02092 0.02127" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.05941 -0.06345 0.02231" quat="0.37697 0.24681 0.10494 -0.88654" size="0.00357 0.02092 0.02127" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03681 0.07896 0.02231" quat="0.22596 0.51893 0.81165 -0.14447" size="0.00357 0.02092 0.02127" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06133 0.06115 0.02231" quat="0.10141 0.89184 -0.36427 0.24829" size="0.00357 0.02092 0.02127" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.07542 0.03448 0.02231" quat="0.26265 0.19492 0.94344 -0.05427" size="0.00357 0.02092 0.02127" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.07582 -0.03394 0.02231" quat="0.26303 -0.18840 0.94476 0.05245" size="0.00357 0.02092 0.02127" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00296 0.05814 0.00748" quat="0.70711 0.00000 0.70711 0.00000" size="0.00446 0.01331 0.04964" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00296 -0.06159 0.00748" quat="0.70711 0.00000 0.70711 0.00000" size="0.00446 0.01331 0.04964" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.07603 -0.00290 0.00748" quat="0.50546 0.49448 0.50546 -0.49448" size="0.00446 0.01098 0.02648" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.05647 -0.00290 0.00748" quat="0.50546 0.49448 0.50546 -0.49448" size="0.00446 0.01331 0.04681" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g24" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.06368 -0.00290 0.00748" quat="0.50546 0.49448 0.50546 -0.49448" size="0.00446 0.01098 0.04714" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g25" /><joint type="free" damping="0.0005" name="chefmate_8_frypan_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="chefmate_8_frypan_1_default_site" /></body>
-      <body name="flat_stove_1_main">
-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          <body name="wooden_two_layer_shelf_1_main">
-      <site type="box" pos="0.00496 0.01567 0.20688" quat="1 0 0 0" size="0.17557 0.09438 0.00147 " name="wooden_two_layer_shelf_1_top_side" rgba="0.8 0.8 0.8 0.0" /><site type="box" pos="0.00538 0.01687 0.13672" quat="0.70711 -0.00000 -0.70711 -0.00000" size="0.06739 0.08564 0.15093" name="wooden_two_layer_shelf_1_top_region" rgba="0.8 0.8 0.8 0.0" /><site type="box" pos="0.00555 0.01687 0.01407" quat="0.70711 0.00000 0.70711 0.00000" size="0.03528 0.08564 0.15580" name="wooden_two_layer_shelf_1_bottom_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_two_layer_shelf_1_wooden_two_layer_shelf_vis" conaffinity="0" contype="0" group="1" material="wooden_two_layer_shelf_1_wooden_two_layer_shelf" name="wooden_two_layer_shelf_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.15376 0.01625 0.10463" quat="0.00000 1.00000 0.00000 0.00000" size="0.00709 0.09542 0.10443" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.16310 0.01625 0.10463" quat="0.00000 1.00000 0.00000 0.00000" size="0.00709 0.09542 0.10443" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00290 0.10938 0.10463" quat="0.49998 0.49998 -0.50002 -0.50002" size="0.00231 0.10443 0.16330" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00550 0.10954 0.10388" quat="0.49984 -0.50083 -0.50016 0.49917" size="0.00193 0.10314 0.15232" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00523 0.01868 0.07005" quat="0.00047 -0.70781 0.00048 0.70641" size="0.00084 0.08935 0.15321" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00498 0.01635 0.20815" quat="0.00047 -0.70781 0.00048 0.70641" size="0.00212 0.09508 0.17563" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g6" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_two_layer_shelf_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.goal.json
deleted file mode 100644
index 550341494ae89b719a2b0b9c39e24210c49f095a..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "white_bowl_1_main",
-      "site": "wooden_two_layer_shelf_1_top_side",
-      "obj_geoms": [
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122
-      ],
-      "parent_geoms": [
-        173,
-        174,
-        175,
-        176,
-        177,
-        178
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
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diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.xml b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.xml
deleted file mode 100644
index 7e6d2f89fdb478f21e71adb8cb8caa1737734acc..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.xml
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0.00748" quat="0.70711 0.00000 0.70711 0.00000" size="0.00446 0.01331 0.04964" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.07603 -0.00290 0.00748" quat="0.50546 0.49448 0.50546 -0.49448" size="0.00446 0.01098 0.02648" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.05647 -0.00290 0.00748" quat="0.50546 0.49448 0.50546 -0.49448" size="0.00446 0.01331 0.04681" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g24" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.06368 -0.00290 0.00748" quat="0.50546 0.49448 0.50546 -0.49448" size="0.00446 0.01098 0.04714" group="0" rgba="0.8 0.8 0.8 0.3" name="chefmate_8_frypan_1_g25" /><joint type="free" damping="0.0005" name="chefmate_8_frypan_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="chefmate_8_frypan_1_default_site" /></body>
-      <body name="flat_stove_1_main">
-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          <body name="wooden_two_layer_shelf_1_main">
-      <site type="box" pos="0.00496 0.01567 0.20688" quat="1 0 0 0" size="0.17557 0.09438 0.00147 " name="wooden_two_layer_shelf_1_top_side" rgba="0.8 0.8 0.8 0.0" /><site type="box" pos="0.00538 0.01687 0.13672" quat="0.70711 -0.00000 -0.70711 -0.00000" size="0.06739 0.08564 0.15093" name="wooden_two_layer_shelf_1_top_region" rgba="0.8 0.8 0.8 0.0" /><site type="box" pos="0.00555 0.01687 0.01407" quat="0.70711 0.00000 0.70711 0.00000" size="0.03528 0.08564 0.15580" name="wooden_two_layer_shelf_1_bottom_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_two_layer_shelf_1_wooden_two_layer_shelf_vis" conaffinity="0" contype="0" group="1" material="wooden_two_layer_shelf_1_wooden_two_layer_shelf" name="wooden_two_layer_shelf_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.15376 0.01625 0.10463" quat="0.00000 1.00000 0.00000 0.00000" size="0.00709 0.09542 0.10443" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.16310 0.01625 0.10463" quat="0.00000 1.00000 0.00000 0.00000" size="0.00709 0.09542 0.10443" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00290 0.10938 0.10463" quat="0.49998 0.49998 -0.50002 -0.50002" size="0.00231 0.10443 0.16330" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00550 0.10954 0.10388" quat="0.49984 -0.50083 -0.50016 0.49917" size="0.00193 0.10314 0.15232" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00523 0.01868 0.07005" quat="0.00047 -0.70781 0.00048 0.70641" size="0.00084 0.08935 0.15321" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00498 0.01635 0.20815" quat="0.00047 -0.70781 0.00048 0.70641" size="0.00212 0.09508 0.17563" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g6" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_two_layer_shelf_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove.goal.json
deleted file mode 100644
index 855cd1798bcbdbf1be0c215d728301f5525ec16c..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove.goal.json
+++ /dev/null
@@ -1,464 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "any",
-      "op": "ge",
-      "thr": 0.5,
-      "qpos_addr": [
-        23
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE9_turn_on_the_stove",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.19072674478997942,
-      0.29766883037651554,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.15,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0066523969109587595,
-      -0.24443686498100298,
-      0.9199999999999999
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
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deleted file mode 100644
index 7e6d2f89fdb478f21e71adb8cb8caa1737734acc..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove.xml
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
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-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          <body name="wooden_two_layer_shelf_1_main">
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.goal.json
deleted file mode 100644
index fcdf83448fe7dd9d25fe3d63ff2b68da986fdc47..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.goal.json
+++ /dev/null
@@ -1,518 +0,0 @@
-{
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-      "reduce": "any",
-      "op": "ge",
-      "thr": 0.5,
-      "qpos_addr": [
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-      ]
-    },
-    {
-      "fn": "on_site",
-      "obj": "chefmate_8_frypan_1_main",
-      "site": "flat_stove_1_cook_region",
-      "obj_geoms": [
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-        125,
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-        146,
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-      "parent_geoms": [
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-        170,
-        171
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
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-      5,
-      6
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-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it",
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.xml b/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.xml
deleted file mode 100644
index 7e6d2f89fdb478f21e71adb8cb8caa1737734acc..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.xml
+++ /dev/null
@@ -1,495 +0,0 @@
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-
-  <asset>
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-    <texture file="libero/scenes/../textures/gray_ceramic_tile.png" type="2d" name="texplane" />
-    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
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-      <site type="box" pos="0.00496 0.01567 0.20688" quat="1 0 0 0" size="0.17557 0.09438 0.00147 " name="wooden_two_layer_shelf_1_top_side" rgba="0.8 0.8 0.8 0.0" /><site type="box" pos="0.00538 0.01687 0.13672" quat="0.70711 -0.00000 -0.70711 -0.00000" size="0.06739 0.08564 0.15093" name="wooden_two_layer_shelf_1_top_region" rgba="0.8 0.8 0.8 0.0" /><site type="box" pos="0.00555 0.01687 0.01407" quat="0.70711 0.00000 0.70711 0.00000" size="0.03528 0.08564 0.15580" name="wooden_two_layer_shelf_1_bottom_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_two_layer_shelf_1_wooden_two_layer_shelf_vis" conaffinity="0" contype="0" group="1" material="wooden_two_layer_shelf_1_wooden_two_layer_shelf" name="wooden_two_layer_shelf_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.15376 0.01625 0.10463" quat="0.00000 1.00000 0.00000 0.00000" size="0.00709 0.09542 0.10443" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.16310 0.01625 0.10463" quat="0.00000 1.00000 0.00000 0.00000" size="0.00709 0.09542 0.10443" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00290 0.10938 0.10463" quat="0.49998 0.49998 -0.50002 -0.50002" size="0.00231 0.10443 0.16330" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00550 0.10954 0.10388" quat="0.49984 -0.50083 -0.50016 0.49917" size="0.00193 0.10314 0.15232" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00523 0.01868 0.07005" quat="0.00047 -0.70781 0.00048 0.70641" size="0.00084 0.08935 0.15321" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00498 0.01635 0.20815" quat="0.00047 -0.70781 0.00048 0.70641" size="0.00212 0.09508 0.17563" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g6" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_two_layer_shelf_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket.goal.json
deleted file mode 100644
index ad22a7d110f7912befc2a249f6c6bb70329eb34e..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,442 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "alphabet_soup_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
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-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
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-      0.0,
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-      0.42
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-      0.384,
-      0.0
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-    [
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-      0.0
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-      0.088,
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-      0.0
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-    [
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-      0.0,
-      0.1065
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-    [
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-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
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-  "init_state": [
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket.xml
deleted file mode 100644
index 0485cae2692349dfe2029267ad6afd5dbb110110..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket.xml
+++ /dev/null
@@ -1,432 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="2d" name="texplane" />    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.2" specular="0.9" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/living_room_table/living_room_table_texture.png" name="tex-living_room_table" type="2d" />
-    <material name="living_room_table" reflectance="0.5" texrepeat="1 1" texture="tex-living_room_table" texuniform="false" />
-    <mesh file="libero/scenes/living_room_table/visual/living_room_table_vis.msh" name="living_room_table_vis" scale="1.5 1.5 1.5" />
-    
-    <texture file="libero/scenes/wall_decoration/wall_decoration_texture.png" name="tex-wall_decoration" type="2d" />
-    <material name="wall_decoration" reflectance="0.5" texrepeat="1 1" texture="tex-wall_decoration" texuniform="false" />
-    <mesh file="libero/scenes/wall_decoration/visual/wall_decoration_vis.msh" name="wall_decoration_vis" scale="0.4 0.1 0.4" />
-
-    <texture file="libero/scenes/living_room/living_room_wall_unit.png" name="tex-living_room" type="2d" />
-    <material name="living_room" reflectance="0.5" texrepeat="1 1" texture="tex-living_room" texuniform="false" />
-    <mesh file="libero/scenes/living_room/visual/living_room_vis.msh" name="living_room_vis" scale="0.7 0.7 0.7" />
-
-  <mesh name="robot0_link0" file="robosuite/robots/panda/meshes/link0.stl" />
-        <mesh name="robot0_link1" file="robosuite/robots/panda/meshes/link1.stl" />
-        <mesh name="robot0_link2" file="robosuite/robots/panda/meshes/link2.stl" />
-        <mesh name="robot0_link3" file="robosuite/robots/panda/meshes/link3.stl" />
-        <mesh name="robot0_link4" file="robosuite/robots/panda/meshes/link4.stl" />
-        <mesh name="robot0_link5" file="robosuite/robots/panda/meshes/link5.stl" />
-        <mesh name="robot0_link6" file="robosuite/robots/panda/meshes/link6.stl" />
-        <mesh name="robot0_link7" file="robosuite/robots/panda/meshes/link7.stl" />
-
-        
-	<material name="robot0_Face636_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
-	<material name="robot0_Part__Feature017_001" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
-	<material name="robot0_Part__Feature018_001" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
-	<material name="robot0_Part__Feature019_001" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
-	<material name="robot0_Part__Feature022_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
-	<material name="robot0_Part__Feature023_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
-	<material name="robot0_Shell001_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
-	<material name="robot0_Shell002_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
-	<material name="robot0_Shell003_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
-	<material name="robot0_Shell009_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
-	<material name="robot0_Shell010_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
-	<material name="robot0_Shell_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
-	<mesh name="robot0_link0_vis_0" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj" />
-	<mesh name="robot0_link0_vis_1" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj" />
-	<mesh name="robot0_link0_vis_2" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj" />
-	<mesh name="robot0_link0_vis_3" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj" />
-	<mesh name="robot0_link0_vis_4" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj" />
-	<mesh name="robot0_link0_vis_5" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj" />
-	<mesh name="robot0_link0_vis_6" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj" />
-	<mesh name="robot0_link0_vis_7" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj" />
-	<mesh name="robot0_link0_vis_8" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj" />
-	<mesh name="robot0_link0_vis_9" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj" />
-	<mesh name="robot0_link0_vis_10" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj" />
-	<mesh name="robot0_link0_vis_11" file="robosuite/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj" />
-
-        
-	<material name="robot0_Part__Feature_001" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
-	<mesh name="robot0_link1_vis" file="robosuite/robots/panda/obj_meshes/link1_vis/link1_vis.obj" />
-
-
-        
-	<material name="robot0_Part__Feature024" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
-	<mesh name="robot0_link2_vis" file="robosuite/robots/panda/obj_meshes/link2_vis/link2_vis.obj" />
-
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="ketchup_1_textured_vis" conaffinity="0" contype="0" group="1" material="ketchup_1_textured" name="ketchup_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01695 0.02811 0.03307" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.02393" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.01869" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.01032 0.01414 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01368 0.05471 0.00079" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00292 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01322 0.05471 0.00079" quat="0.00000 0.00000 0.70711 0.70711" size="0.00315 0.00460 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00008 0.05471 -0.01554" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00209 0.00685 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00002 0.05471 0.01682" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00186 0.00740 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 0.00901" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00259 0.00413 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 -0.00727" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00392 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01254 0.05471 -0.00799" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01259 0.05471 0.00929" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00380 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g12" /><joint type="free" damping="0.0005" name="ketchup_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="ketchup_1_default_site" /></body>
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-      <site type="box" pos="-0.00000 -0.00000 0.07185" quat="0.00000 0.00000 0.00000 1.00000" size="0.06108 0.06108 0.06949" group="0" rgba="0.8 0 0 0" name="basket_1_contain_region" />
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.goal.json
deleted file mode 100644
index 8296c67139dcbcbf8e282ae04751e9c487f21dae..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,442 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "cream_cheese_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
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-      1,
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-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
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-      5,
-      6
-    ],
-    "grip_act_index": [
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-      8
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-      0.0,
-      -2.44459747,
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-    ],
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-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
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-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket",
-  "body_pos": [
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.xml
deleted file mode 100644
index 0485cae2692349dfe2029267ad6afd5dbb110110..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.xml
+++ /dev/null
@@ -1,432 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="2d" name="texplane" />    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.2" specular="0.9" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/living_room_table/living_room_table_texture.png" name="tex-living_room_table" type="2d" />
-    <material name="living_room_table" reflectance="0.5" texrepeat="1 1" texture="tex-living_room_table" texuniform="false" />
-    <mesh file="libero/scenes/living_room_table/visual/living_room_table_vis.msh" name="living_room_table_vis" scale="1.5 1.5 1.5" />
-    
-    <texture file="libero/scenes/wall_decoration/wall_decoration_texture.png" name="tex-wall_decoration" type="2d" />
-    <material name="wall_decoration" reflectance="0.5" texrepeat="1 1" texture="tex-wall_decoration" texuniform="false" />
-    <mesh file="libero/scenes/wall_decoration/visual/wall_decoration_vis.msh" name="wall_decoration_vis" scale="0.4 0.1 0.4" />
-
-    <texture file="libero/scenes/living_room/living_room_wall_unit.png" name="tex-living_room" type="2d" />
-    <material name="living_room" reflectance="0.5" texrepeat="1 1" texture="tex-living_room" texuniform="false" />
-    <mesh file="libero/scenes/living_room/visual/living_room_vis.msh" name="living_room_vis" scale="0.7 0.7 0.7" />
-
-  <mesh name="robot0_link0" file="robosuite/robots/panda/meshes/link0.stl" />
-        <mesh name="robot0_link1" file="robosuite/robots/panda/meshes/link1.stl" />
-        <mesh name="robot0_link2" file="robosuite/robots/panda/meshes/link2.stl" />
-        <mesh name="robot0_link3" file="robosuite/robots/panda/meshes/link3.stl" />
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rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g24" /><joint type="free" damping="0.0005" name="tomato_sauce_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="tomato_sauce_1_default_site" /></body>
-      <body name="ketchup_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="ketchup_1_textured_vis" conaffinity="0" contype="0" group="1" material="ketchup_1_textured" name="ketchup_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01695 0.02811 0.03307" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.02393" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.01869" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.01032 0.01414 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01368 0.05471 0.00079" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00292 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01322 0.05471 0.00079" quat="0.00000 0.00000 0.70711 0.70711" size="0.00315 0.00460 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00008 0.05471 -0.01554" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00209 0.00685 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00002 0.05471 0.01682" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00186 0.00740 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 0.00901" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00259 0.00413 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 -0.00727" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00392 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01254 0.05471 -0.00799" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01259 0.05471 0.00929" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00380 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g12" /><joint type="free" damping="0.0005" name="ketchup_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="ketchup_1_default_site" /></body>
-      <body name="basket_1_main">
-      <site type="box" pos="-0.00000 -0.00000 0.07185" quat="0.00000 0.00000 0.00000 1.00000" size="0.06108 0.06108 0.06949" group="0" rgba="0.8 0 0 0" name="basket_1_contain_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="basket_1_basket_vis" conaffinity="0" contype="0" group="1" material="basket_1_basket" name="basket_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00251 -0.00000 0.01308" quat="0.70880 -0.00000 0.70541 -0.00000" size="0.00850 0.07240 0.07658" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.07265 -0.00000 0.07657" quat="0.02672 -0.02672 0.70660 0.70660" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00047 -0.06855 0.08177" quat="0.51263 -0.49025 0.50956 -0.48704" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00020 0.06909 0.08177" quat="0.48794 -0.51043 -0.48935 0.51177" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.07557 0.00000 0.07657" quat="0.01765 0.01765 -0.70689 0.70689" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g5" /><joint type="free" damping="0.0005" name="basket_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="basket_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket.goal.json
deleted file mode 100644
index 273fa8469655652edf3020fce25f841303b0c00f..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,442 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "ketchup_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
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-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
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-      0.42
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-      -0.0825,
-      0.384,
-      0.0
-    ],
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-      0.0
-    ],
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-      0.088,
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-      0.0
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-      0.1065
-    ],
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-      0.097
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-    [
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-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
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-      0.7071067811865475,
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-    [
-      0.7071067811865475,
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-      0.0
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-    [
-      0.7071067811865475,
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-    [
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-  ],
-  "init_state": [
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-    0.0,
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-    0.0,
-    2.2267522,
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-    0.0,
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-    0.7071067811865477,
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-    0.48,
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-    0.7071067811865477,
-    -0.18336900772260312,
-    -0.13609216245250746,
-    0.48,
-    0.5,
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-  ]
-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket.xml
deleted file mode 100644
index 0485cae2692349dfe2029267ad6afd5dbb110110..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket.xml
+++ /dev/null
@@ -1,432 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="2d" name="texplane" />    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
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friction="0.95 0.3 0.1" type="box" pos="0.01240 -0.00060 -0.02883" quat="0.60318 0.60318 0.36902 -0.36902" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02745 -0.00099 -0.01027" quat="0.05205 0.05205 -0.70519 0.70519" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02700 -0.00060 0.00886" quat="0.69496 0.69496 0.13049 -0.13049" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g24" /><joint type="free" damping="0.0005" name="tomato_sauce_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="tomato_sauce_1_default_site" /></body>
-      <body name="ketchup_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="ketchup_1_textured_vis" conaffinity="0" contype="0" group="1" material="ketchup_1_textured" name="ketchup_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01695 0.02811 0.03307" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.02393" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.01869" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.01032 0.01414 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01368 0.05471 0.00079" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00292 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01322 0.05471 0.00079" quat="0.00000 0.00000 0.70711 0.70711" size="0.00315 0.00460 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00008 0.05471 -0.01554" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00209 0.00685 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00002 0.05471 0.01682" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00186 0.00740 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 0.00901" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00259 0.00413 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 -0.00727" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00392 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01254 0.05471 -0.00799" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01259 0.05471 0.00929" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00380 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g12" /><joint type="free" damping="0.0005" name="ketchup_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="ketchup_1_default_site" /></body>
-      <body name="basket_1_main">
-      <site type="box" pos="-0.00000 -0.00000 0.07185" quat="0.00000 0.00000 0.00000 1.00000" size="0.06108 0.06108 0.06949" group="0" rgba="0.8 0 0 0" name="basket_1_contain_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="basket_1_basket_vis" conaffinity="0" contype="0" group="1" material="basket_1_basket" name="basket_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00251 -0.00000 0.01308" quat="0.70880 -0.00000 0.70541 -0.00000" size="0.00850 0.07240 0.07658" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.07265 -0.00000 0.07657" quat="0.02672 -0.02672 0.70660 0.70660" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00047 -0.06855 0.08177" quat="0.51263 -0.49025 0.50956 -0.48704" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00020 0.06909 0.08177" quat="0.48794 -0.51043 -0.48935 0.51177" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.07557 0.00000 0.07657" quat="0.01765 0.01765 -0.70689 0.70689" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g5" /><joint type="free" damping="0.0005" name="basket_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="basket_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.goal.json
deleted file mode 100644
index 31afba69ee7121fc2be2063dbaa56231e7b0983d..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,442 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "tomato_sauce_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.25,
-      0.25,
-      0.0
-    ],
-    [
-      -0.51,
-      0.0,
-      0.42
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865476,
-      0.0,
-      0.0,
-      0.7071067811865476
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "init_state": [
-    0.0,
-    0.0,
-    -0.161037389,
-    0.0,
-    -2.44459747,
-    0.0,
-    2.2267522,
-    0.7853981633974483,
-    0.020833,
-    -0.020833,
-    0.07318313802505147,
-    -0.10582792405871112,
-    0.45999999999999996,
-    0.0,
-    0.0,
-    0.7071067811865476,
-    0.7071067811865477,
-    -0.14855525401235478,
-    0.06340222805469661,
-    0.445,
-    0.0,
-    0.0,
-    0.0,
-    1.0,
-    0.07855180290989436,
-    -0.22064353501492298,
-    0.48,
-    0.0,
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.xml
deleted file mode 100644
index 0485cae2692349dfe2029267ad6afd5dbb110110..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.xml
+++ /dev/null
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size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02944 -0.00060 -0.00291" quat="0.00030 0.00030 -0.70711 0.70711" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02920 -0.00060 -0.00286" quat="0.70711 0.70711 0.00030 -0.00030" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02685 -0.00060 0.00853" quat="0.12141 -0.12141 0.69661 0.69661" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02626 -0.00060 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friction="0.95 0.3 0.1" type="box" pos="0.01240 -0.00060 -0.02883" quat="0.60318 0.60318 0.36902 -0.36902" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02745 -0.00099 -0.01027" quat="0.05205 0.05205 -0.70519 0.70519" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02700 -0.00060 0.00886" quat="0.69496 0.69496 0.13049 -0.13049" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" 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-      <body name="ketchup_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="ketchup_1_textured_vis" conaffinity="0" contype="0" group="1" material="ketchup_1_textured" name="ketchup_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01695 0.02811 0.03307" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.02393" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.01869" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.01032 0.01414 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01368 0.05471 0.00079" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00292 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01322 0.05471 0.00079" quat="0.00000 0.00000 0.70711 0.70711" size="0.00315 0.00460 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00008 0.05471 -0.01554" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00209 0.00685 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00002 0.05471 0.01682" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00186 0.00740 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 0.00901" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00259 0.00413 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 -0.00727" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00392 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01254 0.05471 -0.00799" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01259 0.05471 0.00929" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00380 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g12" /><joint type="free" damping="0.0005" name="ketchup_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="ketchup_1_default_site" /></body>
-      <body name="basket_1_main">
-      <site type="box" pos="-0.00000 -0.00000 0.07185" quat="0.00000 0.00000 0.00000 1.00000" size="0.06108 0.06108 0.06949" group="0" rgba="0.8 0 0 0" name="basket_1_contain_region" />
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.goal.json
deleted file mode 100644
index b6b6669c24b5f5357f23a3411838d1f65f802b51..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,514 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "alphabet_soup_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.25,
-      0.25,
-      0.0
-    ],
-    [
-      -0.51,
-      0.0,
-      0.42
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865476,
-      0.0,
-      0.0,
-      0.7071067811865476
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.xml
deleted file mode 100644
index 1feddadc118ae2f55e5283e5f2f81d9daef64d10..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.xml
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="milk_1_textured_vis" conaffinity="0" contype="0" group="1" material="milk_1_textured" name="milk_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00037 -0.01500 0.00000" quat="0.70711 0.70711 0.00000 -0.00000" size="0.02625 0.02625 0.05475" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.04784 0.01352" quat="0.28687 0.64630 -0.28687 -0.64630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.04784 -0.01344" quat="0.64203 0.29630 0.64203 0.29630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.05849 0.00005" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00295 0.00348 0.02650" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g4" /><joint type="free" damping="0.0005" name="milk_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="milk_1_default_site" /></body>
-      <body name="butter_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="butter_1_butter_vis" conaffinity="0" contype="0" group="1" material="butter_1_butter" name="butter_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 -0.00000" quat="0.00530 0.00000 0.00530 0.00000" size="0.00871 0.01977 0.03809" group="0" rgba="0.8 0.8 0.8 0." name="butter_1_g1" /><joint type="free" damping="0.0005" name="butter_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="butter_1_default_site" /></body>
-      <body name="basket_1_main">
-      <site type="box" pos="-0.00000 -0.00000 0.07185" quat="0.00000 0.00000 0.00000 1.00000" size="0.06108 0.06108 0.06949" group="0" rgba="0.8 0 0 0" name="basket_1_contain_region" />
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.goal.json
deleted file mode 100644
index 183f93fe939ce2a115eb7d6586ec655c14a5ab05..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,514 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "butter_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
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-      1,
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-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
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-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
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-    "initial_joint": [
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-    "torque_limits": [
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-        -80.0,
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-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket",
-  "body_pos": [
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.xml
deleted file mode 100644
index 1feddadc118ae2f55e5283e5f2f81d9daef64d10..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.xml
+++ /dev/null
@@ -1,444 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
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-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="2d" name="texplane" />    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.2" specular="0.9" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/living_room_table/living_room_table_texture.png" name="tex-living_room_table" type="2d" />
-    <material name="living_room_table" reflectance="0.5" texrepeat="1 1" texture="tex-living_room_table" texuniform="false" />
-    <mesh file="libero/scenes/living_room_table/visual/living_room_table_vis.msh" name="living_room_table_vis" scale="1.5 1.5 1.5" />
-    
-    <texture file="libero/scenes/wall_decoration/wall_decoration_texture.png" name="tex-wall_decoration" type="2d" />
-    <material name="wall_decoration" reflectance="0.5" texrepeat="1 1" texture="tex-wall_decoration" texuniform="false" />
-    <mesh file="libero/scenes/wall_decoration/visual/wall_decoration_vis.msh" name="wall_decoration_vis" scale="0.4 0.1 0.4" />
-
-    <texture file="libero/scenes/living_room/living_room_wall_unit.png" name="tex-living_room" type="2d" />
-    <material name="living_room" reflectance="0.5" texrepeat="1 1" texture="tex-living_room" texuniform="false" />
-    <mesh file="libero/scenes/living_room/visual/living_room_vis.msh" name="living_room_vis" scale="0.7 0.7 0.7" />
-
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friction="0.95 0.3 0.1" type="box" pos="0.01240 -0.00060 -0.02883" quat="0.60318 0.60318 0.36902 -0.36902" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02745 -0.00099 -0.01027" quat="0.05205 0.05205 -0.70519 0.70519" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02700 -0.00060 0.00886" quat="0.69496 0.69496 0.13049 -0.13049" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g24" /><joint type="free" damping="0.0005" name="tomato_sauce_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="tomato_sauce_1_default_site" /></body>
-      <body name="ketchup_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="ketchup_1_textured_vis" conaffinity="0" contype="0" group="1" material="ketchup_1_textured" name="ketchup_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01695 0.02811 0.03307" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.02393" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.01869" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.01032 0.01414 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01368 0.05471 0.00079" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00292 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01322 0.05471 0.00079" quat="0.00000 0.00000 0.70711 0.70711" size="0.00315 0.00460 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00008 0.05471 -0.01554" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00209 0.00685 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00002 0.05471 0.01682" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00186 0.00740 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 0.00901" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00259 0.00413 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 -0.00727" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00392 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01254 0.05471 -0.00799" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01259 0.05471 0.00929" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00380 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g12" /><joint type="free" damping="0.0005" name="ketchup_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="ketchup_1_default_site" /></body>
-      <body name="orange_juice_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="orange_juice_1_textured_vis" conaffinity="0" contype="0" group="1" material="orange_juice_1_textured" name="orange_juice_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00037 -0.01500 0.00000" quat="0.70711 0.70711 0.00000 -0.00000" size="0.02625 0.02625 0.05475" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.04784 -0.01352" quat="0.28687 -0.64630 -0.28687 0.64630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.04784 0.01344" quat="0.29630 0.64203 -0.29630 -0.64203" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.05849 -0.00005" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00295 0.00348 0.02650" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g4" /><joint type="free" damping="0.0005" name="orange_juice_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="orange_juice_1_default_site" /></body>
-      <body name="milk_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="milk_1_textured_vis" conaffinity="0" contype="0" group="1" material="milk_1_textured" name="milk_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00037 -0.01500 0.00000" quat="0.70711 0.70711 0.00000 -0.00000" size="0.02625 0.02625 0.05475" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.04784 0.01352" quat="0.28687 0.64630 -0.28687 -0.64630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.04784 -0.01344" quat="0.64203 0.29630 0.64203 0.29630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.05849 0.00005" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00295 0.00348 0.02650" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g4" /><joint type="free" damping="0.0005" name="milk_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="milk_1_default_site" /></body>
-      <body name="butter_1_main">
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-      <body name="basket_1_main">
-      <site type="box" pos="-0.00000 -0.00000 0.07185" quat="0.00000 0.00000 0.00000 1.00000" size="0.06108 0.06108 0.06949" group="0" rgba="0.8 0 0 0" name="basket_1_contain_region" />
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.goal.json
deleted file mode 100644
index 6686b43c64e7fc81fc2a21c8636bad6168bb8440..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,514 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "milk_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.25,
-      0.25,
-      0.0
-    ],
-    [
-      -0.51,
-      0.0,
-      0.42
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.xml
deleted file mode 100644
index 1feddadc118ae2f55e5283e5f2f81d9daef64d10..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.xml
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="orange_juice_1_textured_vis" conaffinity="0" contype="0" group="1" material="orange_juice_1_textured" name="orange_juice_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00037 -0.01500 0.00000" quat="0.70711 0.70711 0.00000 -0.00000" size="0.02625 0.02625 0.05475" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.04784 -0.01352" quat="0.28687 -0.64630 -0.28687 0.64630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.04784 0.01344" quat="0.29630 0.64203 -0.29630 -0.64203" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.05849 -0.00005" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00295 0.00348 0.02650" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g4" /><joint type="free" damping="0.0005" name="orange_juice_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="orange_juice_1_default_site" /></body>
-      <body name="milk_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="milk_1_textured_vis" conaffinity="0" contype="0" group="1" material="milk_1_textured" name="milk_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00037 -0.01500 0.00000" quat="0.70711 0.70711 0.00000 -0.00000" size="0.02625 0.02625 0.05475" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.04784 0.01352" quat="0.28687 0.64630 -0.28687 -0.64630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.04784 -0.01344" quat="0.64203 0.29630 0.64203 0.29630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.05849 0.00005" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00295 0.00348 0.02650" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g4" /><joint type="free" damping="0.0005" name="milk_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="milk_1_default_site" /></body>
-      <body name="butter_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="butter_1_butter_vis" conaffinity="0" contype="0" group="1" material="butter_1_butter" name="butter_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 -0.00000" quat="0.00530 0.00000 0.00530 0.00000" size="0.00871 0.01977 0.03809" group="0" rgba="0.8 0.8 0.8 0." name="butter_1_g1" /><joint type="free" damping="0.0005" name="butter_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="butter_1_default_site" /></body>
-      <body name="basket_1_main">
-      <site type="box" pos="-0.00000 -0.00000 0.07185" quat="0.00000 0.00000 0.00000 1.00000" size="0.06108 0.06108 0.06949" group="0" rgba="0.8 0 0 0" name="basket_1_contain_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="basket_1_basket_vis" conaffinity="0" contype="0" group="1" material="basket_1_basket" name="basket_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00251 -0.00000 0.01308" quat="0.70880 -0.00000 0.70541 -0.00000" size="0.00850 0.07240 0.07658" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.07265 -0.00000 0.07657" quat="0.02672 -0.02672 0.70660 0.70660" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00047 -0.06855 0.08177" quat="0.51263 -0.49025 0.50956 -0.48704" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00020 0.06909 0.08177" quat="0.48794 -0.51043 -0.48935 0.51177" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.07557 0.00000 0.07657" quat="0.01765 0.01765 -0.70689 0.70689" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g5" /><joint type="free" damping="0.0005" name="basket_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="basket_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.goal.json
deleted file mode 100644
index 7e83025fd883cec8cbc177125ee3b33059c48039..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,514 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "orange_juice_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.25,
-      0.25,
-      0.0
-    ],
-    [
-      -0.51,
-      0.0,
-      0.42
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
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-      0.0,
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-    [
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-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
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-    [
-      1.0,
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-      0.0
-    ],
-    [
-      0.7071067811865476,
-      0.0,
-      0.0,
-      0.7071067811865476
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
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-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
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-    [
-      0.7071067811865475,
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-    [
-      0.923785244892942,
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-    [
-      0.7071067811865475,
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-      1.0,
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-    [
-      0.7071067811865475,
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-    [
-      1.0,
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-    [
-      0.7071067811865475,
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-    [
-      1.0,
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-      0.0
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-    [
-      1.0,
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-    [
-      1.0,
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-    [
-      1.0,
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-      0.0,
-      0.0
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-  ],
-  "init_state": [
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-    -0.161037389,
-    0.0,
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-    0.0,
-    2.2267522,
-    0.7853981633974483,
-    0.020833,
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.xml
deleted file mode 100644
index 1feddadc118ae2f55e5283e5f2f81d9daef64d10..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.xml
+++ /dev/null
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friction="0.95 0.3 0.1" type="box" pos="0.01240 -0.00060 -0.02883" quat="0.60318 0.60318 0.36902 -0.36902" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02745 -0.00099 -0.01027" quat="0.05205 0.05205 -0.70519 0.70519" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02700 -0.00060 0.00886" quat="0.69496 0.69496 0.13049 -0.13049" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g24" /><joint type="free" damping="0.0005" name="tomato_sauce_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="tomato_sauce_1_default_site" /></body>
-      <body name="ketchup_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="ketchup_1_textured_vis" conaffinity="0" contype="0" group="1" material="ketchup_1_textured" name="ketchup_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01695 0.02811 0.03307" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.02393" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.01869" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.01032 0.01414 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01368 0.05471 0.00079" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00292 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01322 0.05471 0.00079" quat="0.00000 0.00000 0.70711 0.70711" size="0.00315 0.00460 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00008 0.05471 -0.01554" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00209 0.00685 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00002 0.05471 0.01682" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00186 0.00740 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 0.00901" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00259 0.00413 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 -0.00727" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00392 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01254 0.05471 -0.00799" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01259 0.05471 0.00929" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00380 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g12" /><joint type="free" damping="0.0005" name="ketchup_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="ketchup_1_default_site" /></body>
-      <body name="orange_juice_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="orange_juice_1_textured_vis" conaffinity="0" contype="0" group="1" material="orange_juice_1_textured" name="orange_juice_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00037 -0.01500 0.00000" quat="0.70711 0.70711 0.00000 -0.00000" size="0.02625 0.02625 0.05475" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.04784 -0.01352" quat="0.28687 -0.64630 -0.28687 0.64630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.04784 0.01344" quat="0.29630 0.64203 -0.29630 -0.64203" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.05849 -0.00005" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00295 0.00348 0.02650" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g4" /><joint type="free" damping="0.0005" name="orange_juice_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="orange_juice_1_default_site" /></body>
-      <body name="milk_1_main">
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-      <body name="butter_1_main">
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-      <body name="basket_1_main">
-      <site type="box" pos="-0.00000 -0.00000 0.07185" quat="0.00000 0.00000 0.00000 1.00000" size="0.06108 0.06108 0.06949" group="0" rgba="0.8 0 0 0" name="basket_1_contain_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="basket_1_basket_vis" conaffinity="0" contype="0" group="1" material="basket_1_basket" name="basket_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00251 -0.00000 0.01308" quat="0.70880 -0.00000 0.70541 -0.00000" size="0.00850 0.07240 0.07658" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.07265 -0.00000 0.07657" quat="0.02672 -0.02672 0.70660 0.70660" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00047 -0.06855 0.08177" quat="0.51263 -0.49025 0.50956 -0.48704" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00020 0.06909 0.08177" quat="0.48794 -0.51043 -0.48935 0.51177" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.07557 0.00000 0.07657" quat="0.01765 0.01765 -0.70689 0.70689" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g5" /><joint type="free" damping="0.0005" name="basket_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="basket_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.goal.json
deleted file mode 100644
index c2e2e8376ebd8a8dbfeee8d39b5cf67e0108eeba..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,514 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "tomato_sauce_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.xml
deleted file mode 100644
index 1feddadc118ae2f55e5283e5f2f81d9daef64d10..0000000000000000000000000000000000000000
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="ketchup_1_textured_vis" conaffinity="0" contype="0" group="1" material="ketchup_1_textured" name="ketchup_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01695 0.02811 0.03307" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.02393" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.01869" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.01032 0.01414 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01368 0.05471 0.00079" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00292 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01322 0.05471 0.00079" quat="0.00000 0.00000 0.70711 0.70711" size="0.00315 0.00460 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00008 0.05471 -0.01554" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00209 0.00685 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00002 0.05471 0.01682" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00186 0.00740 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 0.00901" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00259 0.00413 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 -0.00727" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00392 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01254 0.05471 -0.00799" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01259 0.05471 0.00929" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00380 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g12" /><joint type="free" damping="0.0005" name="ketchup_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="ketchup_1_default_site" /></body>
-      <body name="orange_juice_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="orange_juice_1_textured_vis" conaffinity="0" contype="0" group="1" material="orange_juice_1_textured" name="orange_juice_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00037 -0.01500 0.00000" quat="0.70711 0.70711 0.00000 -0.00000" size="0.02625 0.02625 0.05475" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.04784 -0.01352" quat="0.28687 -0.64630 -0.28687 0.64630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.04784 0.01344" quat="0.29630 0.64203 -0.29630 -0.64203" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.05849 -0.00005" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00295 0.00348 0.02650" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g4" /><joint type="free" damping="0.0005" name="orange_juice_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="orange_juice_1_default_site" /></body>
-      <body name="milk_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="milk_1_textured_vis" conaffinity="0" contype="0" group="1" material="milk_1_textured" name="milk_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00037 -0.01500 0.00000" quat="0.70711 0.70711 0.00000 -0.00000" size="0.02625 0.02625 0.05475" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.04784 0.01352" quat="0.28687 0.64630 -0.28687 -0.64630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.04784 -0.01344" quat="0.64203 0.29630 0.64203 0.29630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.05849 0.00005" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00295 0.00348 0.02650" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g4" /><joint type="free" damping="0.0005" name="milk_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="milk_1_default_site" /></body>
-      <body name="butter_1_main">
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-      <body name="basket_1_main">
-      <site type="box" pos="-0.00000 -0.00000 0.07185" quat="0.00000 0.00000 0.00000 1.00000" size="0.06108 0.06108 0.06949" group="0" rgba="0.8 0 0 0" name="basket_1_contain_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="basket_1_basket_vis" conaffinity="0" contype="0" group="1" material="basket_1_basket" name="basket_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00251 -0.00000 0.01308" quat="0.70880 -0.00000 0.70541 -0.00000" size="0.00850 0.07240 0.07658" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.07265 -0.00000 0.07657" quat="0.02672 -0.02672 0.70660 0.70660" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00047 -0.06855 0.08177" quat="0.51263 -0.49025 0.50956 -0.48704" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00020 0.06909 0.08177" quat="0.48794 -0.51043 -0.48935 0.51177" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.07557 0.00000 0.07657" quat="0.01765 0.01765 -0.70689 0.70689" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" name="basket_1_g5" /><joint type="free" damping="0.0005" name="basket_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="basket_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.goal.json
deleted file mode 100644
index 09d41a47f2816ce2a6871055d88cc1aa77cbe061..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.goal.json
+++ /dev/null
@@ -1,466 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "alphabet_soup_1_main",
-      "region": "wooden_tray_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
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-      0.0,
-      0.0
-    ],
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-      -0.25,
-      0.25,
-      0.0
-    ],
-    [
-      -0.51,
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-      0.42
-    ],
-    [
-      0.0,
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-      0.0
-    ],
-    [
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-      0.333
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-      0.0
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-      -0.316,
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-    ],
-    [
-      0.0825,
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-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
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-      0.0
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-      0.0,
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-      0.1065
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-      0.0,
-      0.0
-    ],
-    [
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-      0.0524
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-      0.0085,
-      0.056
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-    [
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-      0.0
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-  ],
-  "body_quat": [
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-      0.0
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-      0.0,
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-      0.7071067811865476
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-      1.0,
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-      1.0,
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-      0.7071067811865475,
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-      0.0
-    ],
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-      0.7071067811865475,
-      0.7071067811865475,
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-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
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-    [
-      0.7071067811865475,
-      -0.7071067811865475,
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-    [
-      0.7071067811865475,
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-      0.7071067811865475,
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-      0.7071067811865475,
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-    0.0,
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-    0.7071067811865477,
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.xml
deleted file mode 100644
index 6b4c10038b2f88a71ebd9381b9a88e4890f48ef2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.xml
+++ /dev/null
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friction="0.95 0.3 0.1" type="box" pos="0.01240 -0.00060 -0.02883" quat="0.60318 0.60318 0.36902 -0.36902" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02745 -0.00099 -0.01027" quat="0.05205 0.05205 -0.70519 0.70519" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02700 -0.00060 0.00886" quat="0.69496 0.69496 0.13049 -0.13049" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g24" /><joint type="free" damping="0.0005" name="tomato_sauce_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="tomato_sauce_1_default_site" /></body>
-      <body name="ketchup_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="ketchup_1_textured_vis" conaffinity="0" contype="0" group="1" material="ketchup_1_textured" name="ketchup_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01695 0.02811 0.03307" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.02393" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.01869" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.01032 0.01414 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01368 0.05471 0.00079" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00292 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01322 0.05471 0.00079" quat="0.00000 0.00000 0.70711 0.70711" size="0.00315 0.00460 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00008 0.05471 -0.01554" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00209 0.00685 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00002 0.05471 0.01682" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00186 0.00740 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 0.00901" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00259 0.00413 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 -0.00727" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00392 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01254 0.05471 -0.00799" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01259 0.05471 0.00929" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00380 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g12" /><joint type="free" damping="0.0005" name="ketchup_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="ketchup_1_default_site" /></body>
-      <body name="butter_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="butter_1_butter_vis" conaffinity="0" contype="0" group="1" material="butter_1_butter" name="butter_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 -0.00000" quat="0.00530 0.00000 0.00530 0.00000" size="0.00871 0.01977 0.03809" group="0" rgba="0.8 0.8 0.8 0." name="butter_1_g1" /><joint type="free" damping="0.0005" name="butter_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="butter_1_default_site" /></body>
-      <body name="wooden_tray_1_main">
-      <site type="box" pos="0.00863 -0.00471 0.04255" quat="0.70711 0.00000 0.70711 0.00000" size="0.04038 0.07839 0.13549" group="0" rgba="1 0 0 0" name="wooden_tray_1_contain_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_tray_1_wooden_tray_vis" conaffinity="0" contype="0" group="1" material="wooden_tray_1_wooden_tray" name="wooden_tray_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13924 -0.00547 0.02993" quat="0.00000 0.00000 0.70711 0.70711" size="0.00232 0.02460 0.07784" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.15323 -0.00547 0.02993" quat="0.00000 0.00000 0.70711 0.70711" size="0.00232 0.02460 0.07784" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.08453 0.03323" quat="0.49868 0.49868 -0.50132 -0.50132" size="0.00232 0.02943 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 0.07580 0.03117" quat="0.50132 0.50132 0.49868 0.49868" size="0.00232 0.02843 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.00556 0.00354" quat="0.00090 0.70897 -0.00089 -0.70524" size="0.00363 0.02460 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 0.05385 0.00363" quat="0.00090 0.70897 -0.00090 -0.70524" size="0.00363 0.02087 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.06421 0.00346" quat="0.00090 0.70897 -0.00090 -0.70524" size="0.00363 0.02087 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14715 -0.00420 0.00223" quat="0.50068 -0.50195 0.49931 0.49805" size="0.00232 0.00542 0.07756" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13099 -0.00420 0.00287" quat="0.50195 0.50068 0.49805 -0.49931" size="0.00232 0.00542 0.07756" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13206 0.06811 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13350 -0.00490 0.07967" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00121 0.00670 0.07862" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14712 -0.00490 0.07967" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00121 0.00670 0.07862" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13206 -0.07846 0.04084" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14531 -0.07846 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14531 0.06891 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g15" /><joint type="free" damping="0.0005" name="wooden_tray_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_tray_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.goal.json
deleted file mode 100644
index 701ea3e45ab051152dbfc0983e00a05938896ab5..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.goal.json
+++ /dev/null
@@ -1,466 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "butter_1_main",
-      "region": "wooden_tray_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.xml
deleted file mode 100644
index 6b4c10038b2f88a71ebd9381b9a88e4890f48ef2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.xml
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_tray_1_wooden_tray_vis" conaffinity="0" contype="0" group="1" material="wooden_tray_1_wooden_tray" name="wooden_tray_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13924 -0.00547 0.02993" quat="0.00000 0.00000 0.70711 0.70711" size="0.00232 0.02460 0.07784" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.15323 -0.00547 0.02993" quat="0.00000 0.00000 0.70711 0.70711" size="0.00232 0.02460 0.07784" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.08453 0.03323" quat="0.49868 0.49868 -0.50132 -0.50132" size="0.00232 0.02943 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 0.07580 0.03117" quat="0.50132 0.50132 0.49868 0.49868" size="0.00232 0.02843 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.00556 0.00354" quat="0.00090 0.70897 -0.00089 -0.70524" size="0.00363 0.02460 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 0.05385 0.00363" quat="0.00090 0.70897 -0.00090 -0.70524" size="0.00363 0.02087 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.06421 0.00346" quat="0.00090 0.70897 -0.00090 -0.70524" size="0.00363 0.02087 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14715 -0.00420 0.00223" quat="0.50068 -0.50195 0.49931 0.49805" size="0.00232 0.00542 0.07756" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13099 -0.00420 0.00287" quat="0.50195 0.50068 0.49805 -0.49931" size="0.00232 0.00542 0.07756" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13206 0.06811 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13350 -0.00490 0.07967" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00121 0.00670 0.07862" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14712 -0.00490 0.07967" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00121 0.00670 0.07862" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13206 -0.07846 0.04084" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14531 -0.07846 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14531 0.06891 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g15" /><joint type="free" damping="0.0005" name="wooden_tray_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_tray_1_default_site" /></body>
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-
-  <equality>
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-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray.goal.json
deleted file mode 100644
index f0dac87700e6862286a53b33e3a8df16568a9faf..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray.goal.json
+++ /dev/null
@@ -1,466 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "cream_cheese_1_main",
-      "region": "wooden_tray_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
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-      1,
-      2,
-      3,
-      4,
-      5,
-      6
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-    "arm_act_index": [
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-      5,
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-    "grip_act_index": [
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-      8
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-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray",
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray.xml
deleted file mode 100644
index 6b4c10038b2f88a71ebd9381b9a88e4890f48ef2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray.xml
+++ /dev/null
@@ -1,436 +0,0 @@
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-  <size nconmax="5000" njmax="5000" />
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-  <asset>
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-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table" />
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-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table-legs" />
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-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
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-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/living_room_table/living_room_table_texture.png" name="tex-living_room_table" type="2d" />
-    <material name="living_room_table" reflectance="0.5" texrepeat="1 1" texture="tex-living_room_table" texuniform="false" />
-    <mesh file="libero/scenes/living_room_table/visual/living_room_table_vis.msh" name="living_room_table_vis" scale="1.5 1.5 1.5" />
-    
-    <texture file="libero/scenes/wall_decoration/wall_decoration_texture.png" name="tex-wall_decoration" type="2d" />
-    <material name="wall_decoration" reflectance="0.5" texrepeat="1 1" texture="tex-wall_decoration" texuniform="false" />
-    <mesh file="libero/scenes/wall_decoration/visual/wall_decoration_vis.msh" name="wall_decoration_vis" scale="0.4 0.1 0.4" />
-
-    <texture file="libero/scenes/living_room/living_room_wall_unit.png" name="tex-living_room" type="2d" />
-    <material name="living_room" reflectance="0.5" texrepeat="1 1" texture="tex-living_room" texuniform="false" />
-    <mesh file="libero/scenes/living_room/visual/living_room_vis.msh" name="living_room_vis" scale="0.7 0.7 0.7" />
-
-  <mesh name="robot0_link0" file="robosuite/robots/panda/meshes/link0.stl" />
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rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g24" /><joint type="free" damping="0.0005" name="tomato_sauce_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="tomato_sauce_1_default_site" /></body>
-      <body name="ketchup_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="ketchup_1_textured_vis" conaffinity="0" contype="0" group="1" material="ketchup_1_textured" name="ketchup_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01695 0.02811 0.03307" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.02393" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.01869" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.01032 0.01414 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01368 0.05471 0.00079" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00292 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01322 0.05471 0.00079" quat="0.00000 0.00000 0.70711 0.70711" size="0.00315 0.00460 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00008 0.05471 -0.01554" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00209 0.00685 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00002 0.05471 0.01682" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00186 0.00740 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 0.00901" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00259 0.00413 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 -0.00727" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00392 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01254 0.05471 -0.00799" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01259 0.05471 0.00929" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00380 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g12" /><joint type="free" damping="0.0005" name="ketchup_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="ketchup_1_default_site" /></body>
-      <body name="butter_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="butter_1_butter_vis" conaffinity="0" contype="0" group="1" material="butter_1_butter" name="butter_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 -0.00000" quat="0.00530 0.00000 0.00530 0.00000" size="0.00871 0.01977 0.03809" group="0" rgba="0.8 0.8 0.8 0." name="butter_1_g1" /><joint type="free" damping="0.0005" name="butter_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="butter_1_default_site" /></body>
-      <body name="wooden_tray_1_main">
-      <site type="box" pos="0.00863 -0.00471 0.04255" quat="0.70711 0.00000 0.70711 0.00000" size="0.04038 0.07839 0.13549" group="0" rgba="1 0 0 0" name="wooden_tray_1_contain_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_tray_1_wooden_tray_vis" conaffinity="0" contype="0" group="1" material="wooden_tray_1_wooden_tray" name="wooden_tray_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13924 -0.00547 0.02993" quat="0.00000 0.00000 0.70711 0.70711" size="0.00232 0.02460 0.07784" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.15323 -0.00547 0.02993" quat="0.00000 0.00000 0.70711 0.70711" size="0.00232 0.02460 0.07784" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.08453 0.03323" quat="0.49868 0.49868 -0.50132 -0.50132" size="0.00232 0.02943 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 0.07580 0.03117" quat="0.50132 0.50132 0.49868 0.49868" size="0.00232 0.02843 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.00556 0.00354" quat="0.00090 0.70897 -0.00089 -0.70524" size="0.00363 0.02460 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 0.05385 0.00363" quat="0.00090 0.70897 -0.00090 -0.70524" size="0.00363 0.02087 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.06421 0.00346" quat="0.00090 0.70897 -0.00090 -0.70524" size="0.00363 0.02087 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14715 -0.00420 0.00223" quat="0.50068 -0.50195 0.49931 0.49805" size="0.00232 0.00542 0.07756" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13099 -0.00420 0.00287" quat="0.50195 0.50068 0.49805 -0.49931" size="0.00232 0.00542 0.07756" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13206 0.06811 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13350 -0.00490 0.07967" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00121 0.00670 0.07862" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14712 -0.00490 0.07967" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00121 0.00670 0.07862" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13206 -0.07846 0.04084" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14531 -0.07846 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14531 0.06891 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g15" /><joint type="free" damping="0.0005" name="wooden_tray_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_tray_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.goal.json
deleted file mode 100644
index f203754014999546296fe5012c6fdd63dcbc4079..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.goal.json
+++ /dev/null
@@ -1,466 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "ketchup_1_main",
-      "region": "wooden_tray_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.25,
-      0.25,
-      0.0
-    ],
-    [
-      -0.51,
-      0.0,
-      0.42
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865476,
-      0.0,
-      0.0,
-      0.7071067811865476
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.xml
deleted file mode 100644
index 6b4c10038b2f88a71ebd9381b9a88e4890f48ef2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.xml
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friction="0.95 0.3 0.1" type="box" pos="0.01240 -0.00060 -0.02883" quat="0.60318 0.60318 0.36902 -0.36902" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02745 -0.00099 -0.01027" quat="0.05205 0.05205 -0.70519 0.70519" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02700 -0.00060 0.00886" quat="0.69496 0.69496 0.13049 -0.13049" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g24" /><joint type="free" damping="0.0005" name="tomato_sauce_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="tomato_sauce_1_default_site" /></body>
-      <body name="ketchup_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="ketchup_1_textured_vis" conaffinity="0" contype="0" group="1" material="ketchup_1_textured" name="ketchup_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01695 0.02811 0.03307" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.02393" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.01869" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.01032 0.01414 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01368 0.05471 0.00079" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00292 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01322 0.05471 0.00079" quat="0.00000 0.00000 0.70711 0.70711" size="0.00315 0.00460 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00008 0.05471 -0.01554" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00209 0.00685 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00002 0.05471 0.01682" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00186 0.00740 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 0.00901" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00259 0.00413 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 -0.00727" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00392 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01254 0.05471 -0.00799" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01259 0.05471 0.00929" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00380 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g12" /><joint type="free" damping="0.0005" name="ketchup_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="ketchup_1_default_site" /></body>
-      <body name="butter_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="butter_1_butter_vis" conaffinity="0" contype="0" group="1" material="butter_1_butter" name="butter_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 -0.00000" quat="0.00530 0.00000 0.00530 0.00000" size="0.00871 0.01977 0.03809" group="0" rgba="0.8 0.8 0.8 0." name="butter_1_g1" /><joint type="free" damping="0.0005" name="butter_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="butter_1_default_site" /></body>
-      <body name="wooden_tray_1_main">
-      <site type="box" pos="0.00863 -0.00471 0.04255" quat="0.70711 0.00000 0.70711 0.00000" size="0.04038 0.07839 0.13549" group="0" rgba="1 0 0 0" name="wooden_tray_1_contain_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_tray_1_wooden_tray_vis" conaffinity="0" contype="0" group="1" material="wooden_tray_1_wooden_tray" name="wooden_tray_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13924 -0.00547 0.02993" quat="0.00000 0.00000 0.70711 0.70711" size="0.00232 0.02460 0.07784" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.15323 -0.00547 0.02993" quat="0.00000 0.00000 0.70711 0.70711" size="0.00232 0.02460 0.07784" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.08453 0.03323" quat="0.49868 0.49868 -0.50132 -0.50132" size="0.00232 0.02943 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 0.07580 0.03117" quat="0.50132 0.50132 0.49868 0.49868" size="0.00232 0.02843 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.00556 0.00354" quat="0.00090 0.70897 -0.00089 -0.70524" size="0.00363 0.02460 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 0.05385 0.00363" quat="0.00090 0.70897 -0.00090 -0.70524" size="0.00363 0.02087 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.06421 0.00346" quat="0.00090 0.70897 -0.00090 -0.70524" size="0.00363 0.02087 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14715 -0.00420 0.00223" quat="0.50068 -0.50195 0.49931 0.49805" size="0.00232 0.00542 0.07756" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13099 -0.00420 0.00287" quat="0.50195 0.50068 0.49805 -0.49931" size="0.00232 0.00542 0.07756" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13206 0.06811 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13350 -0.00490 0.07967" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00121 0.00670 0.07862" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14712 -0.00490 0.07967" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00121 0.00670 0.07862" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13206 -0.07846 0.04084" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14531 -0.07846 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14531 0.06891 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g15" /><joint type="free" damping="0.0005" name="wooden_tray_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_tray_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.goal.json
deleted file mode 100644
index 3df2a96d2e4c378642121e7e24158fbfd9906118..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.goal.json
+++ /dev/null
@@ -1,466 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "tomato_sauce_1_main",
-      "region": "wooden_tray_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.xml
deleted file mode 100644
index 6b4c10038b2f88a71ebd9381b9a88e4890f48ef2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.xml
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="ketchup_1_textured_vis" conaffinity="0" contype="0" group="1" material="ketchup_1_textured" name="ketchup_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01695 0.02811 0.03307" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.02393" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.01869" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.01032 0.01414 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01368 0.05471 0.00079" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00292 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01322 0.05471 0.00079" quat="0.00000 0.00000 0.70711 0.70711" size="0.00315 0.00460 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00008 0.05471 -0.01554" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00209 0.00685 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00002 0.05471 0.01682" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00186 0.00740 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 0.00901" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00259 0.00413 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 -0.00727" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00392 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01254 0.05471 -0.00799" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01259 0.05471 0.00929" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00380 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g12" /><joint type="free" damping="0.0005" name="ketchup_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="ketchup_1_default_site" /></body>
-      <body name="butter_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="butter_1_butter_vis" conaffinity="0" contype="0" group="1" material="butter_1_butter" name="butter_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 -0.00000" quat="0.00530 0.00000 0.00530 0.00000" size="0.00871 0.01977 0.03809" group="0" rgba="0.8 0.8 0.8 0." name="butter_1_g1" /><joint type="free" damping="0.0005" name="butter_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="butter_1_default_site" /></body>
-      <body name="wooden_tray_1_main">
-      <site type="box" pos="0.00863 -0.00471 0.04255" quat="0.70711 0.00000 0.70711 0.00000" size="0.04038 0.07839 0.13549" group="0" rgba="1 0 0 0" name="wooden_tray_1_contain_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_tray_1_wooden_tray_vis" conaffinity="0" contype="0" group="1" material="wooden_tray_1_wooden_tray" name="wooden_tray_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13924 -0.00547 0.02993" quat="0.00000 0.00000 0.70711 0.70711" size="0.00232 0.02460 0.07784" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.15323 -0.00547 0.02993" quat="0.00000 0.00000 0.70711 0.70711" size="0.00232 0.02460 0.07784" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.08453 0.03323" quat="0.49868 0.49868 -0.50132 -0.50132" size="0.00232 0.02943 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 0.07580 0.03117" quat="0.50132 0.50132 0.49868 0.49868" size="0.00232 0.02843 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.00556 0.00354" quat="0.00090 0.70897 -0.00089 -0.70524" size="0.00363 0.02460 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 0.05385 0.00363" quat="0.00090 0.70897 -0.00090 -0.70524" size="0.00363 0.02087 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.06421 0.00346" quat="0.00090 0.70897 -0.00090 -0.70524" size="0.00363 0.02087 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14715 -0.00420 0.00223" quat="0.50068 -0.50195 0.49931 0.49805" size="0.00232 0.00542 0.07756" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13099 -0.00420 0.00287" quat="0.50195 0.50068 0.49805 -0.49931" size="0.00232 0.00542 0.07756" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13206 0.06811 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13350 -0.00490 0.07967" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00121 0.00670 0.07862" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14712 -0.00490 0.07967" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00121 0.00670 0.07862" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13206 -0.07846 0.04084" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14531 -0.07846 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14531 0.06891 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g15" /><joint type="free" damping="0.0005" name="wooden_tray_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_tray_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray.goal.json
deleted file mode 100644
index eef3411c1c666fb71c96b61ca86a2f4eadaec1af..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray.goal.json
+++ /dev/null
@@ -1,453 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "akita_black_bowl_1_main",
-      "region": "wooden_tray_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
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-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
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-      0.0
-    ],
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-      0.25,
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-      0.42
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-      -0.0825,
-      0.384,
-      0.0
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-      0.1065
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-  "body_quat": [
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray.xml
deleted file mode 100644
index a6930ce22cf9caf08c5765d4c2400a1344b68de0..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray.xml
+++ /dev/null
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="new_salad_dressing_1_textured_vis" conaffinity="0" contype="0" group="1" material="new_salad_dressing_1_textured" name="new_salad_dressing_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00012 0.05420 0.00043" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01237 0.01277 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 -0.03138 0.00023" quat="0.70711 -0.00000 -0.70711 -0.00000" size="0.01733 0.02097 0.02637" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00048 0.00843 0.00023" quat="0.70711 0.70711 0.00000 -0.00000" size="0.01294 0.01494 0.02738" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00012 0.05420 -0.01366" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00012 0.05420 0.01479" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01509 0.05420 -0.00068" quat="0.70711 0.70711 0.00086 -0.00086" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01447 0.05420 -0.00068" quat="0.70711 0.70711 0.00086 -0.00086" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01145 0.05420 -0.01062" quat="0.23994 0.23994 0.66515 -0.66515" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01182 0.05420 -0.01062" quat="0.66388 0.66388 0.24343 -0.24343" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01220 0.05420 0.00988" quat="0.21187 0.21187 0.67462 -0.67462" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01158 0.05420 0.00988" quat="0.66557 -0.66557 0.23877 0.23877" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 -0.06947 0.00023" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00325 0.01729 0.01733" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 -0.05722 0.00023" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00558 0.01733 0.02217" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 -0.00434 0.00023" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00558 0.01733 0.02290" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 0.00719 0.00023" quat="0.70711 -0.00000 -0.00000 -0.70711" size="0.00558 0.01712 0.01733" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g15" /></body><joint type="free" damping="0.0005" name="new_salad_dressing_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="new_salad_dressing_1_default_site" /></body>
-      <body name="chocolate_pudding_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="chocolate_pudding_1_textured_vis" conaffinity="0" contype="0" group="1" material="chocolate_pudding_1_textured" name="chocolate_pudding_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00050 0.00000 0.00063" quat="0.70711 0.00000 0.70711 0.00000" size="0.01371 0.02316 0.04010" group="0" rgba="0.8 0.8 0.8 0.3" name="chocolate_pudding_1_g1" /><joint type="free" damping="0.0005" name="chocolate_pudding_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="chocolate_pudding_1_default_site" /></body>
-      <body name="wooden_tray_1_main">
-      <site type="box" pos="0.00863 -0.00471 0.04255" quat="0.70711 0.00000 0.70711 0.00000" size="0.04038 0.07839 0.13549" group="0" rgba="1 0 0 0" name="wooden_tray_1_contain_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_tray_1_wooden_tray_vis" conaffinity="0" contype="0" group="1" material="wooden_tray_1_wooden_tray" name="wooden_tray_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13924 -0.00547 0.02993" quat="0.00000 0.00000 0.70711 0.70711" size="0.00232 0.02460 0.07784" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.15323 -0.00547 0.02993" quat="0.00000 0.00000 0.70711 0.70711" size="0.00232 0.02460 0.07784" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.08453 0.03323" quat="0.49868 0.49868 -0.50132 -0.50132" size="0.00232 0.02943 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 0.07580 0.03117" quat="0.50132 0.50132 0.49868 0.49868" size="0.00232 0.02843 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.00556 0.00354" quat="0.00090 0.70897 -0.00089 -0.70524" size="0.00363 0.02460 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 0.05385 0.00363" quat="0.00090 0.70897 -0.00090 -0.70524" size="0.00363 0.02087 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.06421 0.00346" quat="0.00090 0.70897 -0.00090 -0.70524" size="0.00363 0.02087 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14715 -0.00420 0.00223" quat="0.50068 -0.50195 0.49931 0.49805" size="0.00232 0.00542 0.07756" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13099 -0.00420 0.00287" quat="0.50195 0.50068 0.49805 -0.49931" size="0.00232 0.00542 0.07756" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13206 0.06811 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13350 -0.00490 0.07967" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00121 0.00670 0.07862" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14712 -0.00490 0.07967" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00121 0.00670 0.07862" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13206 -0.07846 0.04084" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14531 -0.07846 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14531 0.06891 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g15" /><joint type="free" damping="0.0005" name="wooden_tray_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_tray_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.goal.json
deleted file mode 100644
index 11534f371142e1f388a15d9fce2fe2845ae31441..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.goal.json
+++ /dev/null
@@ -1,453 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "chocolate_pudding_1_main",
-      "region": "wooden_tray_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.25,
-      0.25,
-      0.0
-    ],
-    [
-      -0.51,
-      0.0,
-      0.42
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.05,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865476,
-      0.0,
-      0.0,
-      0.7071067811865476
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "init_state": [
-    0.0,
-    0.0,
-    -0.161037389,
-    0.0,
-    -2.44459747,
-    0.0,
-    2.2267522,
-    0.7853981633974483,
-    0.020833,
-    -0.020833,
-    -0.09855525401235478,
-    -0.14659777194530338,
-    0.48,
-    0.7071067811865476,
-    0.0,
-    0.0,
-    0.7071067811865477,
-    -0.12144819709010565,
-    0.02935646498507704,
-    0.48,
-    0.7071067811865476,
-    0.0,
-    0.0,
-    0.7071067811865477,
-    -0.2333690077226031,
-    -0.08609216245250748,
-    0.48,
-    0.5,
-    0.5,
-    0.5,
-    0.5,
-    0.12318313802505146,
-    -0.20582792405871111,
-    0.48,
-    0.0,
-    0.0,
-    0.0,
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.xml
deleted file mode 100644
index a6930ce22cf9caf08c5765d4c2400a1344b68de0..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.xml
+++ /dev/null
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="new_salad_dressing_1_textured_vis" conaffinity="0" contype="0" group="1" material="new_salad_dressing_1_textured" name="new_salad_dressing_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00012 0.05420 0.00043" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01237 0.01277 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 -0.03138 0.00023" quat="0.70711 -0.00000 -0.70711 -0.00000" size="0.01733 0.02097 0.02637" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00048 0.00843 0.00023" quat="0.70711 0.70711 0.00000 -0.00000" size="0.01294 0.01494 0.02738" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00012 0.05420 -0.01366" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00012 0.05420 0.01479" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01509 0.05420 -0.00068" quat="0.70711 0.70711 0.00086 -0.00086" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01447 0.05420 -0.00068" quat="0.70711 0.70711 0.00086 -0.00086" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01145 0.05420 -0.01062" quat="0.23994 0.23994 0.66515 -0.66515" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01182 0.05420 -0.01062" quat="0.66388 0.66388 0.24343 -0.24343" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01220 0.05420 0.00988" quat="0.21187 0.21187 0.67462 -0.67462" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01158 0.05420 0.00988" quat="0.66557 -0.66557 0.23877 0.23877" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 -0.06947 0.00023" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00325 0.01729 0.01733" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 -0.05722 0.00023" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00558 0.01733 0.02217" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 -0.00434 0.00023" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00558 0.01733 0.02290" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 0.00719 0.00023" quat="0.70711 -0.00000 -0.00000 -0.70711" size="0.00558 0.01712 0.01733" group="0" rgba="0.8 0.8 0.8 0.3" name="new_salad_dressing_1_g15" /></body><joint type="free" damping="0.0005" name="new_salad_dressing_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="new_salad_dressing_1_default_site" /></body>
-      <body name="chocolate_pudding_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="chocolate_pudding_1_textured_vis" conaffinity="0" contype="0" group="1" material="chocolate_pudding_1_textured" name="chocolate_pudding_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00050 0.00000 0.00063" quat="0.70711 0.00000 0.70711 0.00000" size="0.01371 0.02316 0.04010" group="0" rgba="0.8 0.8 0.8 0.3" name="chocolate_pudding_1_g1" /><joint type="free" damping="0.0005" name="chocolate_pudding_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="chocolate_pudding_1_default_site" /></body>
-      <body name="wooden_tray_1_main">
-      <site type="box" pos="0.00863 -0.00471 0.04255" quat="0.70711 0.00000 0.70711 0.00000" size="0.04038 0.07839 0.13549" group="0" rgba="1 0 0 0" name="wooden_tray_1_contain_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_tray_1_wooden_tray_vis" conaffinity="0" contype="0" group="1" material="wooden_tray_1_wooden_tray" name="wooden_tray_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13924 -0.00547 0.02993" quat="0.00000 0.00000 0.70711 0.70711" size="0.00232 0.02460 0.07784" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.15323 -0.00547 0.02993" quat="0.00000 0.00000 0.70711 0.70711" size="0.00232 0.02460 0.07784" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.08453 0.03323" quat="0.49868 0.49868 -0.50132 -0.50132" size="0.00232 0.02943 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 0.07580 0.03117" quat="0.50132 0.50132 0.49868 0.49868" size="0.00232 0.02843 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.00556 0.00354" quat="0.00090 0.70897 -0.00089 -0.70524" size="0.00363 0.02460 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 0.05385 0.00363" quat="0.00090 0.70897 -0.00090 -0.70524" size="0.00363 0.02087 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00781 -0.06421 0.00346" quat="0.00090 0.70897 -0.00090 -0.70524" size="0.00363 0.02087 0.14400" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14715 -0.00420 0.00223" quat="0.50068 -0.50195 0.49931 0.49805" size="0.00232 0.00542 0.07756" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13099 -0.00420 0.00287" quat="0.50195 0.50068 0.49805 -0.49931" size="0.00232 0.00542 0.07756" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13206 0.06811 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13350 -0.00490 0.07967" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00121 0.00670 0.07862" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14712 -0.00490 0.07967" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00121 0.00670 0.07862" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.13206 -0.07846 0.04084" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14531 -0.07846 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.14531 0.06891 0.04084" quat="0.00000 0.70711 0.70711 0.00000" size="0.00548 0.00620 0.03918" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_tray_1_g15" /><joint type="free" damping="0.0005" name="wooden_tray_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_tray_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray.goal.json
deleted file mode 100644
index d3cf43b11c82ce9f1df83237f5ca6af74abf53aa..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray.goal.json
+++ /dev/null
@@ -1,453 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "new_salad_dressing_1_main",
-      "region": "wooden_tray_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.25,
-      0.25,
-      0.0
-    ],
-    [
-      -0.51,
-      0.0,
-      0.42
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.05,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865476,
-      0.0,
-      0.0,
-      0.7071067811865476
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "init_state": [
-    0.0,
-    0.0,
-    -0.161037389,
-    0.0,
-    -2.44459747,
-    0.0,
-    2.2267522,
-    0.7853981633974483,
-    0.020833,
-    -0.020833,
-    -0.09855525401235478,
-    -0.14659777194530338,
-    0.48,
-    0.7071067811865476,
-    0.0,
-    0.0,
-    0.7071067811865477,
-    -0.12144819709010565,
-    0.02935646498507704,
-    0.48,
-    0.7071067811865476,
-    0.0,
-    0.0,
-    0.7071067811865477,
-    -0.2333690077226031,
-    -0.08609216245250748,
-    0.48,
-    0.5,
-    0.5,
-    0.5,
-    0.5,
-    0.12318313802505146,
-    -0.20582792405871111,
-    0.48,
-    0.0,
-    0.0,
-    0.0,
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray.xml
deleted file mode 100644
index a6930ce22cf9caf08c5765d4c2400a1344b68de0..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray.xml
+++ /dev/null
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.goal.json
deleted file mode 100644
index 0632105e31a82fd4b665ddde4f1292c3d1ab87be..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.goal.json
+++ /dev/null
@@ -1,542 +0,0 @@
-{
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-      ]
-    },
-    {
-      "fn": "in",
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-      "region": "wooden_tray_1_contain_region"
-    }
-  ],
-  "osc": {
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.xml
deleted file mode 100644
index a6930ce22cf9caf08c5765d4c2400a1344b68de0..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.xml
+++ /dev/null
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-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray.goal.json
deleted file mode 100644
index d0374e4e5119492fb58b688caaf273152255c591..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray.goal.json
+++ /dev/null
@@ -1,542 +0,0 @@
-{
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-      "obj2": "akita_black_bowl_1_main",
-      "obj_geoms": [
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-        124,
-        125,
-        126,
-        127,
-        128,
-        129,
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-        131,
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-        142,
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-        144,
-        145,
-        146,
-        147,
-        148,
-        149,
-        150,
-        151,
-        152,
-        153,
-        154,
-        155,
-        156,
-        157,
-        158,
-        159,
-        160,
-        161,
-        162
-      ],
-      "obj2_geoms": [
-        82,
-        83,
-        84,
-        85,
-        86,
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121
-      ]
-    },
-    {
-      "fn": "in",
-      "obj": "akita_black_bowl_1_main",
-      "region": "wooden_tray_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
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-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
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-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
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-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
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-      0.0,
-      0.0
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-    [
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-      0.0
-    ],
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-    ],
-    [
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-    [
-      0.0825,
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-      0.0
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-      0.384,
-      0.0
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-    [
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray.xml
deleted file mode 100644
index a6930ce22cf9caf08c5765d4c2400a1344b68de0..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray.xml
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate.goal.json
deleted file mode 100644
index dbe3c9108194c61082fe28ed3ef1adbb5a974863..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate.goal.json
+++ /dev/null
@@ -1,467 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "red_coffee_mug_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115
-      ],
-      "obj2_geoms": [
-        157,
-        158,
-        159,
-        160,
-        161,
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate.xml
deleted file mode 100644
index 4d79e9b6ee67fd88eaf0b0aa39dc5f033a109b30..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate.xml
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density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02029 0.03097 0.01060" quat="0.63771 -0.23063 0.20873 0.70468" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g26" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03400 0.02672 0.01060" quat="0.14973 0.83305 -0.45745 0.27267" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g27" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04548 0.01480 0.01060" quat="0.21896 -0.30271 0.07166 0.92482" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g28" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04922 -0.00110 0.01060" quat="0.01047 -0.94985 -0.03200 -0.31090" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g29" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04438 -0.01667 0.01060" quat="0.28029 0.29724 0.09175 -0.90811" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g30" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03258 -0.02751 0.01060" quat="0.26346 -0.50529 0.80493 0.16539" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g31" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01770 -0.03104 0.01060" quat="0.21464 -0.68791 0.65575 0.22518" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g32" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00302 -0.02709 0.01060" quat="0.82754 0.15297 0.27086 -0.46735" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g33" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00801 -0.01666 0.01060" quat="0.91668 0.08211 0.30004 -0.25086" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g34" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 -0.00000 0.00274" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00250 0.01861 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g35" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 -0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g36" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g37" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04120 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g38" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00460 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g39" /><joint type="free" damping="0.0005" name="white_yellow_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_yellow_mug_1_default_site" /></body>
-      <body name="plate_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="plate_1_model_vis" conaffinity="0" contype="0" group="1" material="plate_1_model" name="plate_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g10" /><joint type="free" damping="0.0005" name="plate_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="plate_1_default_site" /></body>
-      <body name="plate_2_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="plate_2_model_vis" conaffinity="0" contype="0" group="1" material="plate_2_model" name="plate_2_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g10" /><joint type="free" damping="0.0005" name="plate_2_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="plate_2_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate.goal.json
deleted file mode 100644
index 46b53a4ac4fb8bda425fae67f93e5b8e40a111f8..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate.goal.json
+++ /dev/null
@@ -1,467 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "red_coffee_mug_1_main",
-      "obj2": "plate_2_main",
-      "obj_geoms": [
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115
-      ],
-      "obj2_geoms": [
-        168,
-        169,
-        170,
-        171,
-        172,
-        173,
-        174,
-        175,
-        176,
-        177
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.25,
-      0.25,
-      0.0
-    ],
-    [
-      -0.51,
-      0.0,
-      0.42
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865476,
-      0.0,
-      0.0,
-      0.7071067811865476
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate.xml
deleted file mode 100644
index 4d79e9b6ee67fd88eaf0b0aa39dc5f033a109b30..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate.xml
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="plate_1_model_vis" conaffinity="0" contype="0" group="1" material="plate_1_model" name="plate_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g10" /><joint type="free" damping="0.0005" name="plate_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="plate_1_default_site" /></body>
-      <body name="plate_2_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="plate_2_model_vis" conaffinity="0" contype="0" group="1" material="plate_2_model" name="plate_2_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g10" /><joint type="free" damping="0.0005" name="plate_2_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="plate_2_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate.goal.json
deleted file mode 100644
index bc0d68cf3394a18f8bb343e131385b03e762aa87..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate.goal.json
+++ /dev/null
@@ -1,478 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "porcelain_mug_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
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-        83,
-        84,
-        85,
-        86,
-        87,
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-        103
-      ],
-      "obj2_geoms": [
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-        162,
-        163,
-        164,
-        165,
-        166
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
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-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
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-      -2.44459747,
-      0.0,
-      2.2267522,
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-    ],
-    "torque_limits": [
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-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
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-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate",
-  "body_pos": [
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-  ],
-  "body_quat": [
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-      0.0
-    ],
-    [
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate.xml
deleted file mode 100644
index 4d79e9b6ee67fd88eaf0b0aa39dc5f033a109b30..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate.xml
+++ /dev/null
@@ -1,429 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="2d" name="texplane" />    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.2" specular="0.9" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/living_room_table/living_room_table_texture.png" name="tex-living_room_table" type="2d" />
-    <material name="living_room_table" reflectance="0.5" texrepeat="1 1" texture="tex-living_room_table" texuniform="false" />
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.goal.json
deleted file mode 100644
index b82da65e4eff93c57f39d8c196a231b340dc56b3..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.goal.json
+++ /dev/null
@@ -1,495 +0,0 @@
-{
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.xml
deleted file mode 100644
index 4d79e9b6ee67fd88eaf0b0aa39dc5f033a109b30..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.xml
+++ /dev/null
@@ -1,429 +0,0 @@
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density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02029 0.03097 0.01060" quat="0.63771 -0.23063 0.20873 0.70468" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g26" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03400 0.02672 0.01060" quat="0.14973 0.83305 -0.45745 0.27267" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g27" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04548 0.01480 0.01060" quat="0.21896 -0.30271 0.07166 0.92482" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g28" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04922 -0.00110 0.01060" quat="0.01047 -0.94985 -0.03200 -0.31090" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g29" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04438 -0.01667 0.01060" quat="0.28029 0.29724 0.09175 -0.90811" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g30" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03258 -0.02751 0.01060" quat="0.26346 -0.50529 0.80493 0.16539" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g31" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01770 -0.03104 0.01060" quat="0.21464 -0.68791 0.65575 0.22518" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g32" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00302 -0.02709 0.01060" quat="0.82754 0.15297 0.27086 -0.46735" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g33" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00801 -0.01666 0.01060" quat="0.91668 0.08211 0.30004 -0.25086" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g34" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 -0.00000 0.00274" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00250 0.01861 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g35" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 -0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g36" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g37" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04120 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g38" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00460 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g39" /><joint type="free" damping="0.0005" name="white_yellow_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_yellow_mug_1_default_site" /></body>
-      <body name="plate_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="plate_1_model_vis" conaffinity="0" contype="0" group="1" material="plate_1_model" name="plate_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g10" /><joint type="free" damping="0.0005" name="plate_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="plate_1_default_site" /></body>
-      <body name="plate_2_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="plate_2_model_vis" conaffinity="0" contype="0" group="1" material="plate_2_model" name="plate_2_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_2_g10" /><joint type="free" damping="0.0005" name="plate_2_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="plate_2_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate.goal.json
deleted file mode 100644
index 99217da6fb1b6de4e98ce3a06006d80e36f9a6ab..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate.goal.json
+++ /dev/null
@@ -1,422 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "chocolate_pudding_1_main",
-      "site": "living_room_table_plate_left_region",
-      "obj_geoms": [
-        128
-      ],
-      "parent_geoms": null
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.25,
-      0.25,
-      0.0
-    ],
-    [
-      -0.51,
-      0.0,
-      0.42
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865476,
-      0.0,
-      0.0,
-      0.7071067811865476
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
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diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate.xml
deleted file mode 100644
index 7cadcebd4e3bf8da3a296683d2fe368598f29343..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate.xml
+++ /dev/null
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="red_coffee_mug_1_red_coffee_mug_vis" conaffinity="0" contype="0" group="1" material="red_coffee_mug_1_red_coffee_mug" name="red_coffee_mug_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01531 -0.00301 0.00526" quat="0.70711 0.00000 0.70711 0.00000" size="0.00251 0.02354 0.02686" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00784 -0.01707 0.06450" quat="0.01829 -0.94542 0.32085 0.05388" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01551 -0.03478 0.06450" quat="0.04024 -0.70596 -0.70596 -0.04024" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01023 0.00559 0.06450" quat="0.98871 -0.00790 0.05635 0.13863" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00677 0.02828 0.06450" quat="0.80894 -0.03335 0.04610 0.58513" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03366 0.02452 0.06450" quat="0.05122 0.43474 0.89876 -0.02478" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04726 -0.00246 0.06450" quat="0.05689 -0.02366 0.99810 0.00135" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03828 -0.02489 0.06450" quat="0.38651 0.05247 0.02203 -0.92053" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03685 0.00109 0.05041" quat="0.93181 -0.00000 0.36295 -0.00000" size="0.00292 0.00757 0.03425" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05474 0.00109 0.09435" quat="0.99869 0.00000 -0.05124 0.00000" size="0.00266 0.00692 0.01924" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03457 0.00109 0.11162" quat="0.75578 -0.00000 0.65483 -0.00000" size="0.00266 0.00692 0.01822" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g11" /><joint type="free" damping="0.0005" name="red_coffee_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="red_coffee_mug_1_default_site" /></body>
-      <body name="plate_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="plate_1_model_vis" conaffinity="0" contype="0" group="1" material="plate_1_model" name="plate_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g10" /><joint type="free" damping="0.0005" name="plate_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="plate_1_default_site" /></body>
-      <body name="chocolate_pudding_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="chocolate_pudding_1_textured_vis" conaffinity="0" contype="0" group="1" material="chocolate_pudding_1_textured" name="chocolate_pudding_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00050 0.00000 0.00063" quat="0.70711 0.00000 0.70711 0.00000" size="0.01371 0.02316 0.04010" group="0" rgba="0.8 0.8 0.8 0.3" name="chocolate_pudding_1_g1" /><joint type="free" damping="0.0005" name="chocolate_pudding_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="chocolate_pudding_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.goal.json
deleted file mode 100644
index 4a98f4a59bd187002ccec09a01b1e1f960f9d16b..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.goal.json
+++ /dev/null
@@ -1,422 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "chocolate_pudding_1_main",
-      "site": "living_room_table_plate_right_region",
-      "obj_geoms": [
-        128
-      ],
-      "parent_geoms": null
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
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-      0.0
-    ],
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-      0.0
-    ],
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-      0.42
-    ],
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-    ],
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-      -0.316,
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-    ],
-    [
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-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
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-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
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-      0.1065
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-      0.097
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-      0.056
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-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
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-    [
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-  ],
-  "init_state": [
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-    0.7071067811865477,
-    -0.07144819709010566,
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-    0.0
-  ]
-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.xml
deleted file mode 100644
index 7cadcebd4e3bf8da3a296683d2fe368598f29343..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.xml
+++ /dev/null
@@ -1,425 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="2d" name="texplane" />    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.2" specular="0.9" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/living_room_table/living_room_table_texture.png" name="tex-living_room_table" type="2d" />
-    <material name="living_room_table" reflectance="0.5" texrepeat="1 1" texture="tex-living_room_table" texuniform="false" />
-    <mesh file="libero/scenes/living_room_table/visual/living_room_table_vis.msh" name="living_room_table_vis" scale="1.5 1.5 1.5" />
-    
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-
-  <equality>
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-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.goal.json
deleted file mode 100644
index 79d268b9cc1f0515815b86de1c8614125e9c4a2b..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.goal.json
+++ /dev/null
@@ -1,443 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "red_coffee_mug_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
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-        125,
-        126
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-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
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-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
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-      4,
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-    ],
-    "grip_act_index": [
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-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate",
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.xml
deleted file mode 100644
index 7cadcebd4e3bf8da3a296683d2fe368598f29343..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.xml
+++ /dev/null
@@ -1,425 +0,0 @@
-<mujoco model="base">
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-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
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-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
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-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table" />
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-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table-legs" />
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-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.2" specular="0.9" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/living_room_table/living_room_table_texture.png" name="tex-living_room_table" type="2d" />
-    <material name="living_room_table" reflectance="0.5" texrepeat="1 1" texture="tex-living_room_table" texuniform="false" />
-    <mesh file="libero/scenes/living_room_table/visual/living_room_table_vis.msh" name="living_room_table_vis" scale="1.5 1.5 1.5" />
-    
-    <texture file="libero/scenes/wall_decoration/wall_decoration_texture.png" name="tex-wall_decoration" type="2d" />
-    <material name="wall_decoration" reflectance="0.5" texrepeat="1 1" texture="tex-wall_decoration" texuniform="false" />
-    <mesh file="libero/scenes/wall_decoration/visual/wall_decoration_vis.msh" name="wall_decoration_vis" scale="0.4 0.1 0.4" />
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-      <body name="chocolate_pudding_1_main">
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate.goal.json
deleted file mode 100644
index 28b125342e11d5055fdea4bb4b1d21a5a4c3a3bd..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate.goal.json
+++ /dev/null
@@ -1,454 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "porcelain_mug_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
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-      "obj2_geoms": [
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-        121,
-        122,
-        123,
-        124,
-        125,
-        126
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
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-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
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-      2,
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-      4,
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-      6
-    ],
-    "grip_act_index": [
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-    ],
-    "initial_joint": [
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-    "torque_limits": [
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-        -80.0,
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-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate",
-  "body_pos": [
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate.xml b/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate.xml
deleted file mode 100644
index 7cadcebd4e3bf8da3a296683d2fe368598f29343..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate.xml
+++ /dev/null
@@ -1,425 +0,0 @@
-<mujoco model="base">
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-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
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-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="2d" name="texplane" />    
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/seamless_wood_planks_floor.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.2" specular="0.9" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    <texture file="libero/scenes/living_room_table/living_room_table_texture.png" name="tex-living_room_table" type="2d" />
-    <material name="living_room_table" reflectance="0.5" texrepeat="1 1" texture="tex-living_room_table" texuniform="false" />
-    <mesh file="libero/scenes/living_room_table/visual/living_room_table_vis.msh" name="living_room_table_vis" scale="1.5 1.5 1.5" />
-    
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="plate_1_model_vis" conaffinity="0" contype="0" group="1" material="plate_1_model" name="plate_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" name="plate_1_g10" /><joint type="free" damping="0.0005" name="plate_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="plate_1_default_site" /></body>
-      <body name="chocolate_pudding_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="chocolate_pudding_1_textured_vis" conaffinity="0" contype="0" group="1" material="chocolate_pudding_1_textured" name="chocolate_pudding_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00050 0.00000 0.00063" quat="0.70711 0.00000 0.70711 0.00000" size="0.01371 0.02316 0.04010" group="0" rgba="0.8 0.8 0.8 0.3" name="chocolate_pudding_1_g1" /><joint type="free" damping="0.0005" name="chocolate_pudding_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="chocolate_pudding_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json
deleted file mode 100644
index d93c6a806edafad0701a2c293c3d052a7d908524..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json
+++ /dev/null
@@ -1,403 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "black_book_1_main",
-      "region": "desk_caddy_1_front_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
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-    "arm_act_index": [
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-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
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-      8
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-    "initial_joint": [
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-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
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-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
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-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy",
-  "body_pos": [
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-      0.0,
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-  ],
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-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.xml b/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.xml
deleted file mode 100644
index 98afb730b78390380e987eb69e46f0dc4700592a..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.xml
+++ /dev/null
@@ -1,466 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
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-    <texture file="libero/scenes/../textures/light-gray-floor-tile.png" type="2d" name="texplane" />
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.1" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    
-    
-    <texture file="libero/scenes/study_wall_painting/study_wall_painting.png" name="tex-study_wall_painting" type="2d" />
-    <material name="study_wall_painting" reflectance="0.5" texrepeat="1 1" texture="tex-study_wall_painting" texuniform="false" />
-    <mesh file="libero/scenes/study_wall_painting/visual/study_wall_painting_vis.msh" name="study_wall_painting_vis" scale="1.0 1.0 1.0" />
-
-    <texture file="libero/scenes/office_book_shelf/ceramic.png" name="tex-office_book_shelf" type="2d" />
-    <material name="office_book_shelf" reflectance="0.5" texrepeat="1 1" texture="tex-office_book_shelf" texuniform="false" />
-    <mesh file="libero/scenes/office_book_shelf/visual/office_book_shelf_vis.msh" name="office_book_shelf_vis" scale="0.7 0.7 0.7" />
-
-    <texture file="libero/scenes/plant/plant_texture.png" name="tex-plant" type="2d" />
-    <material name="plant" reflectance="0.5" texrepeat="1 1" texture="tex-plant" texuniform="false" />
-    <mesh file="libero/scenes/plant/visual/plant_vis.msh" name="plant_vis" scale="0.7 0.7 0.7" />
-
-    <texture file="libero/scenes/black_book/black_book_texture.png" name="tex-black-book" type="2d" />
-    <material name="black_book" reflectance="0.5" texrepeat="1 1" texture="tex-black-book" texuniform="false" />
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-0.46735" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g33" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00801 -0.01666 0.01060" quat="0.91668 0.08211 0.30004 -0.25086" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g34" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 -0.00000 0.00274" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00250 0.01861 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g35" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 -0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g36" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g37" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04120 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g38" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00460 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g39" /><joint type="free" damping="0.0005" name="white_yellow_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_yellow_mug_1_default_site" /></body>
-      <body name="desk_caddy_1_main">
-      <site type="box" pos="0.00631 -0.14339 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_right_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.00631 0.14551 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_left_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.03364 -0.00064 0.08558" quat="0.00000 0.00000 1.00000 0.00000" size="0.02775 0.06216 0.06046" name="desk_caddy_1_back_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="-0.03102 -0.00064 0.04054" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.02775 0.03595 0.06216" name="desk_caddy_1_front_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="desk_caddy_1_desk_caddy_vis" conaffinity="0" contype="0" group="1" material="desk_caddy_1_desk_caddy" name="desk_caddy_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00760" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00621 0.07550 0.21688" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.06804 0.08502" quat="0.00000 0.70711 0.70711 0.00000" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.20940 0.08502" quat="0.70711 -0.00000 -0.00000 -0.70711" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.06680 -0.00000 0.08677" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.08152 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00156 0.00000 0.05524" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.04341 0.06684" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.20861 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.07058 0.07485" quat="0.00000 0.70711 0.70711 0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 0.00000 0.03952" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.03455 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 -0.13977 0.08769" quat="0.00000 0.00000 1.00000 0.00000" size="0.00403 0.07663 0.07961" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07058 0.09451" quat="0.62692 0.32706 0.32706 0.62692" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04227 0.07058 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07073 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04179 0.20821 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.20821 0.09451" quat="0.32706 0.62692 -0.62692 -0.32706" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.20821 0.07485" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.20821 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.07035 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g17" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="desk_caddy_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json
deleted file mode 100644
index 4e1b3b1c559cf76f2749987eb4265ff266e8dbea..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json
+++ /dev/null
@@ -1,403 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "black_book_1_main",
-      "region": "desk_caddy_1_left_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.75,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.39072674478997943,
-      -0.14233116962348447,
-      0.887
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
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-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      6.123233995736766e-17,
-      0.0,
-      0.0,
-      1.0
-    ]
-  ],
-  "init_state": [
-    0.0,
-    0.0,
-    -0.161037389,
-    0.0,
-    -2.44459747,
-    0.0,
-    2.2267522,
-    0.7853981633974483,
-    0.020833,
-    -0.020833,
-    -0.1985552540123548,
-    0.1534022280546966,
-    0.937,
-    -0.40951028904137543,
-    0.0,
-    0.0,
-    0.9123054988156374,
-    -0.12144819709010565,
-    -0.020643535014922967,
-    0.937,
-    -0.7071067811865476,
-    0.0,
-    0.0,
-    0.7071067811865477,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
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-    0.0,
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-    0.0,
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-    0.0,
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-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0
-  ]
-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.xml b/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.xml
deleted file mode 100644
index 98afb730b78390380e987eb69e46f0dc4700592a..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.xml
+++ /dev/null
@@ -1,466 +0,0 @@
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density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02029 0.03097 0.01060" quat="0.63771 -0.23063 0.20873 0.70468" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g26" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03400 0.02672 0.01060" quat="0.14973 0.83305 -0.45745 0.27267" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g27" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04548 0.01480 0.01060" quat="0.21896 -0.30271 0.07166 0.92482" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g28" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04922 -0.00110 0.01060" quat="0.01047 -0.94985 -0.03200 -0.31090" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g29" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04438 -0.01667 0.01060" quat="0.28029 0.29724 0.09175 -0.90811" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g30" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03258 -0.02751 0.01060" quat="0.26346 -0.50529 0.80493 0.16539" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g31" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01770 -0.03104 0.01060" quat="0.21464 -0.68791 0.65575 0.22518" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g32" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00302 -0.02709 0.01060" quat="0.82754 0.15297 0.27086 -0.46735" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g33" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00801 -0.01666 0.01060" quat="0.91668 0.08211 0.30004 -0.25086" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g34" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 -0.00000 0.00274" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00250 0.01861 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g35" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 -0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g36" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g37" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04120 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g38" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00460 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g39" /><joint type="free" damping="0.0005" name="white_yellow_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_yellow_mug_1_default_site" /></body>
-      <body name="desk_caddy_1_main">
-      <site type="box" pos="0.00631 -0.14339 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_right_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.00631 0.14551 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_left_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.03364 -0.00064 0.08558" quat="0.00000 0.00000 1.00000 0.00000" size="0.02775 0.06216 0.06046" name="desk_caddy_1_back_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="-0.03102 -0.00064 0.04054" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.02775 0.03595 0.06216" name="desk_caddy_1_front_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="desk_caddy_1_desk_caddy_vis" conaffinity="0" contype="0" group="1" material="desk_caddy_1_desk_caddy" name="desk_caddy_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00760" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00621 0.07550 0.21688" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.06804 0.08502" quat="0.00000 0.70711 0.70711 0.00000" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.20940 0.08502" quat="0.70711 -0.00000 -0.00000 -0.70711" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.06680 -0.00000 0.08677" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.08152 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00156 0.00000 0.05524" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.04341 0.06684" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.20861 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.07058 0.07485" quat="0.00000 0.70711 0.70711 0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 0.00000 0.03952" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.03455 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 -0.13977 0.08769" quat="0.00000 0.00000 1.00000 0.00000" size="0.00403 0.07663 0.07961" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07058 0.09451" quat="0.62692 0.32706 0.32706 0.62692" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04227 0.07058 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07073 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04179 0.20821 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.20821 0.09451" quat="0.32706 0.62692 -0.62692 -0.32706" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.20821 0.07485" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.20821 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.07035 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g17" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="desk_caddy_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json
deleted file mode 100644
index 1d68813e8d2796fed899a5a5c4b7288e54e56ae6..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json
+++ /dev/null
@@ -1,403 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "black_book_1_main",
-      "region": "desk_caddy_1_right_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.75,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.39072674478997943,
-      -0.14233116962348447,
-      0.887
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
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-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
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diff --git a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.xml b/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.xml
deleted file mode 100644
index 98afb730b78390380e987eb69e46f0dc4700592a..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.xml
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0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00773 -0.04118 0.05934" quat="0.03955 -0.79478 0.60337 0.05210" size="0.00412 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00471 -0.03578 0.05934" quat="0.03072 -0.88092 0.46872 0.05775" size="0.00412 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01547 -0.02593 0.05934" quat="0.02035 -0.94832 0.31051 0.06216" size="0.00412 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02184 -0.01422 0.05934" quat="0.01035 -0.98528 0.15795 0.06459" size="0.00412 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01284 -0.00100 0.01060" quat="0.95039 -0.00000 0.31107 -0.00000" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00804 0.01661 0.01060" quat="0.09140 0.90843 0.27925 -0.29735" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g24" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00359 0.02740 0.01060" quat="0.80691 -0.16435 0.26412 0.50212" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g25" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02029 0.03097 0.01060" quat="0.63771 -0.23063 0.20873 0.70468" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g26" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03400 0.02672 0.01060" quat="0.14973 0.83305 -0.45745 0.27267" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g27" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04548 0.01480 0.01060" quat="0.21896 -0.30271 0.07166 0.92482" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g28" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04922 -0.00110 0.01060" quat="0.01047 -0.94985 -0.03200 -0.31090" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g29" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04438 -0.01667 0.01060" quat="0.28029 0.29724 0.09175 -0.90811" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g30" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03258 -0.02751 0.01060" quat="0.26346 -0.50529 0.80493 0.16539" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g31" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01770 -0.03104 0.01060" quat="0.21464 -0.68791 0.65575 0.22518" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g32" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00302 -0.02709 0.01060" quat="0.82754 0.15297 0.27086 -0.46735" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g33" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00801 -0.01666 0.01060" quat="0.91668 0.08211 0.30004 -0.25086" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g34" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 -0.00000 0.00274" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00250 0.01861 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g35" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 -0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g36" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g37" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04120 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g38" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00460 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g39" /><joint type="free" damping="0.0005" name="white_yellow_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_yellow_mug_1_default_site" /></body>
-      <body name="desk_caddy_1_main">
-      <site type="box" pos="0.00631 -0.14339 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_right_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.00631 0.14551 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_left_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.03364 -0.00064 0.08558" quat="0.00000 0.00000 1.00000 0.00000" size="0.02775 0.06216 0.06046" name="desk_caddy_1_back_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="-0.03102 -0.00064 0.04054" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.02775 0.03595 0.06216" name="desk_caddy_1_front_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="desk_caddy_1_desk_caddy_vis" conaffinity="0" contype="0" group="1" material="desk_caddy_1_desk_caddy" name="desk_caddy_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00760" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00621 0.07550 0.21688" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.06804 0.08502" quat="0.00000 0.70711 0.70711 0.00000" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.20940 0.08502" quat="0.70711 -0.00000 -0.00000 -0.70711" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.06680 -0.00000 0.08677" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.08152 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00156 0.00000 0.05524" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.04341 0.06684" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.20861 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.07058 0.07485" quat="0.00000 0.70711 0.70711 0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 0.00000 0.03952" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.03455 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 -0.13977 0.08769" quat="0.00000 0.00000 1.00000 0.00000" size="0.00403 0.07663 0.07961" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07058 0.09451" quat="0.62692 0.32706 0.32706 0.62692" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04227 0.07058 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07073 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04179 0.20821 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.20821 0.09451" quat="0.32706 0.62692 -0.62692 -0.32706" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.20821 0.07485" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.20821 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.07035 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g17" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="desk_caddy_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy.goal.json
deleted file mode 100644
index d54a583c34a8e05fb4d530f048af386a04f49c95..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy.goal.json
+++ /dev/null
@@ -1,445 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "white_yellow_mug_1_main",
-      "site": "study_table_desk_caddy_right_region",
-      "obj_geoms": [
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123,
-        124,
-        125,
-        126,
-        127,
-        128,
-        129,
-        130,
-        131,
-        132
-      ],
-      "parent_geoms": null
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.75,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
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diff --git a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy.xml b/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy.xml
deleted file mode 100644
index 98afb730b78390380e987eb69e46f0dc4700592a..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy.xml
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friction="0.95 0.3 0.1" type="box" pos="-0.04594 0.03217 0.05934" quat="0.05978 0.40487 0.91203 -0.02654" size="0.00413 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.05444 0.02216 0.05934" quat="0.25900 -0.06317 0.01698 0.96366" size="0.00412 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.05951 0.00987 0.05934" quat="0.06505 0.10512 0.99231 -0.00689" size="0.00412 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06044 -0.00450 0.05934" quat="0.06466 0.06527 0.00424 -0.99576" size="0.00413 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.05654 -0.01830 0.05934" quat="0.06362 -0.23170 0.97059 0.01519" size="0.00412 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04863 -0.02964 0.05934" quat="0.38651 0.06030 0.02533 -0.91996" size="0.00413 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03703 -0.03808 0.05934" quat="0.05516 -0.53632 0.84148 0.03516" size="0.00412 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02220 -0.04230 0.05934" quat="0.68004 0.04787 0.04458 -0.73025" size="0.00413 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00773 -0.04118 0.05934" quat="0.03955 -0.79478 0.60337 0.05210" size="0.00412 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00471 -0.03578 0.05934" quat="0.03072 -0.88092 0.46872 0.05775" size="0.00412 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01547 -0.02593 0.05934" quat="0.02035 -0.94832 0.31051 0.06216" size="0.00412 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02184 -0.01422 0.05934" quat="0.01035 -0.98528 0.15795 0.06459" size="0.00412 0.00876 0.04361" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01284 -0.00100 0.01060" quat="0.95039 -0.00000 0.31107 -0.00000" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00804 0.01661 0.01060" quat="0.09140 0.90843 0.27925 -0.29735" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g24" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00359 0.02740 0.01060" quat="0.80691 -0.16435 0.26412 0.50212" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g25" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02029 0.03097 0.01060" quat="0.63771 -0.23063 0.20873 0.70468" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g26" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03400 0.02672 0.01060" quat="0.14973 0.83305 -0.45745 0.27267" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g27" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04548 0.01480 0.01060" quat="0.21896 -0.30271 0.07166 0.92482" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g28" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04922 -0.00110 0.01060" quat="0.01047 -0.94985 -0.03200 -0.31090" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g29" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04438 -0.01667 0.01060" quat="0.28029 0.29724 0.09175 -0.90811" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g30" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03258 -0.02751 0.01060" quat="0.26346 -0.50529 0.80493 0.16539" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g31" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01770 -0.03104 0.01060" quat="0.21464 -0.68791 0.65575 0.22518" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g32" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00302 -0.02709 0.01060" quat="0.82754 0.15297 0.27086 -0.46735" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g33" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00801 -0.01666 0.01060" quat="0.91668 0.08211 0.30004 -0.25086" size="0.00407 0.00876 0.01028" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g34" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 -0.00000 0.00274" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00250 0.01861 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g35" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 -0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g36" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01819 0.02210 0.00274" quat="0.70711 0.00000 0.70711 0.00000" size="0.00250 0.00383 0.01861" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g37" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04120 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g38" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00460 -0.00000 0.00274" quat="0.50359 -0.49638 0.50360 0.49638" size="0.00250 0.00383 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="white_yellow_mug_1_g39" /><joint type="free" damping="0.0005" name="white_yellow_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="white_yellow_mug_1_default_site" /></body>
-      <body name="desk_caddy_1_main">
-      <site type="box" pos="0.00631 -0.14339 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_right_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.00631 0.14551 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_left_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.03364 -0.00064 0.08558" quat="0.00000 0.00000 1.00000 0.00000" size="0.02775 0.06216 0.06046" name="desk_caddy_1_back_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="-0.03102 -0.00064 0.04054" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.02775 0.03595 0.06216" name="desk_caddy_1_front_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="desk_caddy_1_desk_caddy_vis" conaffinity="0" contype="0" group="1" material="desk_caddy_1_desk_caddy" name="desk_caddy_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00760" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00621 0.07550 0.21688" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.06804 0.08502" quat="0.00000 0.70711 0.70711 0.00000" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.20940 0.08502" quat="0.70711 -0.00000 -0.00000 -0.70711" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.06680 -0.00000 0.08677" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.08152 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00156 0.00000 0.05524" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.04341 0.06684" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.20861 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.07058 0.07485" quat="0.00000 0.70711 0.70711 0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 0.00000 0.03952" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.03455 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 -0.13977 0.08769" quat="0.00000 0.00000 1.00000 0.00000" size="0.00403 0.07663 0.07961" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07058 0.09451" quat="0.62692 0.32706 0.32706 0.62692" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04227 0.07058 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07073 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04179 0.20821 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.20821 0.09451" quat="0.32706 0.62692 -0.62692 -0.32706" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.20821 0.07485" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.20821 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.07035 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g17" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="desk_caddy_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.goal.json
deleted file mode 100644
index 94b30336f089099ce9c3256ee6bfaa0491334103..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.goal.json
+++ /dev/null
@@ -1,403 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "black_book_1_main",
-      "region": "desk_caddy_1_back_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
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diff --git a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.xml b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.xml
deleted file mode 100644
index dd6a103b19f03dc312058e01b2e614d35926a4dc..0000000000000000000000000000000000000000
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="red_coffee_mug_1_red_coffee_mug_vis" conaffinity="0" contype="0" group="1" material="red_coffee_mug_1_red_coffee_mug" name="red_coffee_mug_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01531 -0.00301 0.00526" quat="0.70711 0.00000 0.70711 0.00000" size="0.00251 0.02354 0.02686" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00784 -0.01707 0.06450" quat="0.01829 -0.94542 0.32085 0.05388" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01551 -0.03478 0.06450" quat="0.04024 -0.70596 -0.70596 -0.04024" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01023 0.00559 0.06450" quat="0.98871 -0.00790 0.05635 0.13863" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00677 0.02828 0.06450" quat="0.80894 -0.03335 0.04610 0.58513" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03366 0.02452 0.06450" quat="0.05122 0.43474 0.89876 -0.02478" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04726 -0.00246 0.06450" quat="0.05689 -0.02366 0.99810 0.00135" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03828 -0.02489 0.06450" quat="0.38651 0.05247 0.02203 -0.92053" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03685 0.00109 0.05041" quat="0.93181 -0.00000 0.36295 -0.00000" size="0.00292 0.00757 0.03425" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05474 0.00109 0.09435" quat="0.99869 0.00000 -0.05124 0.00000" size="0.00266 0.00692 0.01924" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03457 0.00109 0.11162" quat="0.75578 -0.00000 0.65483 -0.00000" size="0.00266 0.00692 0.01822" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g11" /><joint type="free" damping="0.0005" name="red_coffee_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="red_coffee_mug_1_default_site" /></body>
-      <body name="desk_caddy_1_main">
-      <site type="box" pos="0.00631 -0.14339 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_right_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.00631 0.14551 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_left_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.03364 -0.00064 0.08558" quat="0.00000 0.00000 1.00000 0.00000" size="0.02775 0.06216 0.06046" name="desk_caddy_1_back_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="-0.03102 -0.00064 0.04054" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.02775 0.03595 0.06216" name="desk_caddy_1_front_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="desk_caddy_1_desk_caddy_vis" conaffinity="0" contype="0" group="1" material="desk_caddy_1_desk_caddy" name="desk_caddy_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00760" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00621 0.07550 0.21688" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.06804 0.08502" quat="0.00000 0.70711 0.70711 0.00000" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.20940 0.08502" quat="0.70711 -0.00000 -0.00000 -0.70711" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.06680 -0.00000 0.08677" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.08152 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00156 0.00000 0.05524" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.04341 0.06684" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.20861 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.07058 0.07485" quat="0.00000 0.70711 0.70711 0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 0.00000 0.03952" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.03455 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 -0.13977 0.08769" quat="0.00000 0.00000 1.00000 0.00000" size="0.00403 0.07663 0.07961" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07058 0.09451" quat="0.62692 0.32706 0.32706 0.62692" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04227 0.07058 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07073 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04179 0.20821 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.20821 0.09451" quat="0.32706 0.62692 -0.62692 -0.32706" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.20821 0.07485" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.20821 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.07035 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g17" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="desk_caddy_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json
deleted file mode 100644
index b8b16c80d26c7dfdba4faf522f22c35a0b47abe5..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json
+++ /dev/null
@@ -1,403 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "black_book_1_main",
-      "region": "desk_caddy_1_front_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.75,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
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-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
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-    ],
-    [
-      0.0825,
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-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
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-      0.0
-    ],
-    [
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-    ],
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-      0.1065
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-    [
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-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
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-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
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-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
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-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
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-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
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-    [
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-    ],
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-      0.0
-    ],
-    [
-      -0.39072674478997943,
-      -0.14233116962348447,
-      0.887
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
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-      0.0
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-      0.0
-    ],
-    [
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-      0.0,
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-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
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-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
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-    [
-      0.923785244892942,
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-    [
-      0.7071067811865475,
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-      0.7071067811865475,
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-    [
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-      1.0,
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-    [
-      6.123233995736766e-17,
-      0.0,
-      0.0,
-      1.0
-    ]
-  ],
-  "init_state": [
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-    -0.161037389,
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-    -2.44459747,
-    0.0,
-    2.2267522,
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-    0.020833,
-    -0.020833,
-    -0.1985552540123548,
-    -0.04659777194530339,
-    0.937,
-    -0.40951028904137543,
-    0.0,
-    0.0,
-    0.9123054988156374,
-    -0.22144819709010566,
-    0.12935646498507702,
-    0.937,
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-    0.0,
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-    0.7071067811865477,
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-    0.0,
-    0.0
-  ]
-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.xml b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.xml
deleted file mode 100644
index dd6a103b19f03dc312058e01b2e614d35926a4dc..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.xml
+++ /dev/null
@@ -1,466 +0,0 @@
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-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json
deleted file mode 100644
index 802e2e37ee12cb9d2d23eb4c2be83ea763e64807..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json
+++ /dev/null
@@ -1,403 +0,0 @@
-{
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-    {
-      "fn": "in",
-      "obj": "black_book_1_main",
-      "region": "desk_caddy_1_left_contain_region"
-    }
-  ],
-  "osc": {
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-      5,
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-      5,
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-    "grip_act_index": [
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-    "initial_joint": [
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-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
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-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
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-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy",
-  "body_pos": [
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-      0.0,
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.xml b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.xml
deleted file mode 100644
index dd6a103b19f03dc312058e01b2e614d35926a4dc..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.xml
+++ /dev/null
@@ -1,466 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
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-    <texture file="libero/scenes/../textures/light-gray-floor-tile.png" type="2d" name="texplane" />
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.1" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    
-    
-    <texture file="libero/scenes/study_wall_painting/study_wall_painting.png" name="tex-study_wall_painting" type="2d" />
-    <material name="study_wall_painting" reflectance="0.5" texrepeat="1 1" texture="tex-study_wall_painting" texuniform="false" />
-    <mesh file="libero/scenes/study_wall_painting/visual/study_wall_painting_vis.msh" name="study_wall_painting_vis" scale="1.0 1.0 1.0" />
-
-    <texture file="libero/scenes/office_book_shelf/ceramic.png" name="tex-office_book_shelf" type="2d" />
-    <material name="office_book_shelf" reflectance="0.5" texrepeat="1 1" texture="tex-office_book_shelf" texuniform="false" />
-    <mesh file="libero/scenes/office_book_shelf/visual/office_book_shelf_vis.msh" name="office_book_shelf_vis" scale="0.7 0.7 0.7" />
-
-    <texture file="libero/scenes/plant/plant_texture.png" name="tex-plant" type="2d" />
-    <material name="plant" reflectance="0.5" texrepeat="1 1" texture="tex-plant" texuniform="false" />
-    <mesh file="libero/scenes/plant/visual/plant_vis.msh" name="plant_vis" scale="0.7 0.7 0.7" />
-
-    <texture file="libero/scenes/black_book/black_book_texture.png" name="tex-black-book" type="2d" />
-    <material name="black_book" reflectance="0.5" texrepeat="1 1" texture="tex-black-book" texuniform="false" />
-    <mesh file="libero/scenes/black_book/visual/black_book_vis.msh" name="black_book_vis" scale="0.7 0.7 0.7" />
-
-    
-
-    <texture file="libero/scenes/desk/desk_texture.png" name="tex-desk" type="2d" />
-    <material name="desk" reflectance="0.5" texrepeat="1 1" texture="tex-desk" texuniform="false" />
-    <mesh file="libero/scenes/desk/visual/desk_vis.msh" name="desk_vis" scale="1.0 1.0 1.0" />
-
-    <texture file="libero/scenes/floor_lamp/lamp_texture.png" name="tex-floor_lamp" type="2d" />
-    <material name="floor_lamp" reflectance="0.5" texrepeat="1 1" texture="tex-floor_lamp" texuniform="false" />
-    <mesh file="libero/scenes/floor_lamp/visual/floor_lamp_vis.msh" name="floor_lamp_vis" scale="1.0 1.0 1.0" />
-
-  <mesh name="robot0_link0" file="robosuite/robots/panda/meshes/link0.stl" />
-        <mesh name="robot0_link1" file="robosuite/robots/panda/meshes/link1.stl" />
-        <mesh name="robot0_link2" file="robosuite/robots/panda/meshes/link2.stl" />
-        <mesh name="robot0_link3" file="robosuite/robots/panda/meshes/link3.stl" />
-        <mesh name="robot0_link4" file="robosuite/robots/panda/meshes/link4.stl" />
-        <mesh name="robot0_link5" file="robosuite/robots/panda/meshes/link5.stl" />
-        <mesh name="robot0_link6" file="robosuite/robots/panda/meshes/link6.stl" />
-        <mesh name="robot0_link7" file="robosuite/robots/panda/meshes/link7.stl" />
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-        
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-            <geom pos="0 0 0." quat="0.707107 0 0 0.707107" type="mesh" mesh="gripper0_hand" group="0" name="gripper0_hand_collision" rgba="0 0 0.5 1" />
-            
-            <body name="gripper0_eef" pos="0 0 0.097" quat="1 0 0 0">
-                <site name="gripper0_grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1" />
-                <site name="gripper0_ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105  0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1" />
-                <site name="gripper0_ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1" />
-                <site name="gripper0_ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1" />
-                
-                <site name="gripper0_grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1" />
-            </body>
-            <body name="gripper0_leftfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.707107">
-                <inertial pos="0 0 0.05" mass="0.1" diaginertia="0.01 0.01 0.005" />
-                <joint name="gripper0_finger_joint1" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.0 0.04" damping="100" armature="1.0" frictionloss="1.0" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="gripper0_finger_vis" name="gripper0_finger1_visual" rgba="0.499 0.499 0.499 1" />
-                <geom type="mesh" group="0" conaffinity="1" contype="0" solref="0.02 1" friction="1 0.005 0.0001" condim="4" mesh="gripper0_finger" name="gripper0_finger1_collision" rgba="0 0 0.5 1" />
-                <body name="gripper0_finger_joint1_tip" pos="0 0.0085 0.056">
-                    <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
-                    <geom size="0.008 0.004 0.008" pos="0 -0.005 -0.015" quat="0 0 0 1" type="box" group="0" solref="0.01 0.5" friction="2 0.05 0.0001" conaffinity="1" contype="1" name="gripper0_finger1_pad_collision" rgba="0 0 0.5 1" />
-                </body>
-            </body>
-            <body name="gripper0_rightfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.707107">
-                <inertial pos="0 0 0.05" mass="0.1" diaginertia="0.01 0.01 0.005" />
-                <joint name="gripper0_finger_joint2" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.04 0.0" damping="100" armature="1.0" frictionloss="1.0" />
-                <geom quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="gripper0_finger_vis" name="gripper0_finger2_visual" rgba="0.499 0.499 0.499 1" />
-                <geom quat="0 0 0 1" type="mesh" group="0" conaffinity="1" contype="0" solref="0.02 1" friction="1 0.005 0.0001" condim="4" mesh="gripper0_finger" name="gripper0_finger2_collision" rgba="0 0 0.5 1" />
-                <body name="gripper0_finger_joint2_tip" pos="0 -0.0085 0.056">
-                    <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
-                    <geom size="0.008 0.004 0.008" pos="0 0.005 -0.015" quat="0 0 0 1" type="box" group="0" solref="0.01 0.5" friction="2 0.05 0.0001" conaffinity="1" contype="1" name="gripper0_finger2_pad_collision" rgba="0 0 0.5 1" />
-                </body>
-            </body>
-        </body>
-    </body>
-                                        </body>
-                                    </body>
-                                </body>
-                            </body>
-                        </body>
-                    </body>
-                </body>
-            </body>
-        <body name="mount0_base" pos="0.0 0.0 0.01">
-            <body name="mount0_controller_box" pos="0 0 0">
-                <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38" />
-                <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="mount0_controller_box_col" rgba="0.5 0.5 0 1" />
-            </body>
-            <body name="mount0_pedestal_feet" pos="0 0 0">
-                <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758" />
-                <geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="mount0_pedestal_feet_col" rgba="0.5 0.5 0 1" />
-            </body>
-            <body name="mount0_torso" pos="0 0 0">
-                <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
-                <geom conaffinity="0" contype="0" group="1" pos="0 0 -0.05" size="0.05 0.05 0.05" type="box" name="mount0_torso_vis" rgba="0.2 0.2 0.2 1" />
-            </body>
-            <body name="mount0_pedestal" pos="0 0 0">
-                <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" />
-                <geom conaffinity="0" contype="0" group="1" mesh="mount0_pedestal" type="mesh" name="mount0_pedestal_vis" rgba="0.2 0.2 0.2 1" />
-                <geom pos="-0.02 0 -0.29" rgba="0.5 0.5 0 1" size="0.18 0.31" type="cylinder" name="mount0_pedestal_col" />
-            </body>
-        </body>
-    </body>
-    <body name="black_book_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="black_book_1_black_book_vis" conaffinity="0" contype="0" group="1" material="black_book_1_black_book" name="black_book_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00047 -0.01215 0.06937" quat="0.00000 0.00000 1.00000 0.00000" size="0.01434 0.05519 0.06720" group="0" rgba="0.8 0.8 0.8 0.3" name="black_book_1_g1" /><joint type="free" damping="0.0005" name="black_book_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="black_book_1_default_site" /></body>
-      <body name="red_coffee_mug_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="red_coffee_mug_1_red_coffee_mug_vis" conaffinity="0" contype="0" group="1" material="red_coffee_mug_1_red_coffee_mug" name="red_coffee_mug_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01531 -0.00301 0.00526" quat="0.70711 0.00000 0.70711 0.00000" size="0.00251 0.02354 0.02686" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00784 -0.01707 0.06450" quat="0.01829 -0.94542 0.32085 0.05388" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01551 -0.03478 0.06450" quat="0.04024 -0.70596 -0.70596 -0.04024" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01023 0.00559 0.06450" quat="0.98871 -0.00790 0.05635 0.13863" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00677 0.02828 0.06450" quat="0.80894 -0.03335 0.04610 0.58513" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03366 0.02452 0.06450" quat="0.05122 0.43474 0.89876 -0.02478" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04726 -0.00246 0.06450" quat="0.05689 -0.02366 0.99810 0.00135" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03828 -0.02489 0.06450" quat="0.38651 0.05247 0.02203 -0.92053" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03685 0.00109 0.05041" quat="0.93181 -0.00000 0.36295 -0.00000" size="0.00292 0.00757 0.03425" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05474 0.00109 0.09435" quat="0.99869 0.00000 -0.05124 0.00000" size="0.00266 0.00692 0.01924" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03457 0.00109 0.11162" quat="0.75578 -0.00000 0.65483 -0.00000" size="0.00266 0.00692 0.01822" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g11" /><joint type="free" damping="0.0005" name="red_coffee_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="red_coffee_mug_1_default_site" /></body>
-      <body name="desk_caddy_1_main">
-      <site type="box" pos="0.00631 -0.14339 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_right_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.00631 0.14551 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_left_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.03364 -0.00064 0.08558" quat="0.00000 0.00000 1.00000 0.00000" size="0.02775 0.06216 0.06046" name="desk_caddy_1_back_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="-0.03102 -0.00064 0.04054" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.02775 0.03595 0.06216" name="desk_caddy_1_front_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="desk_caddy_1_desk_caddy_vis" conaffinity="0" contype="0" group="1" material="desk_caddy_1_desk_caddy" name="desk_caddy_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00760" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00621 0.07550 0.21688" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.06804 0.08502" quat="0.00000 0.70711 0.70711 0.00000" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.20940 0.08502" quat="0.70711 -0.00000 -0.00000 -0.70711" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.06680 -0.00000 0.08677" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.08152 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00156 0.00000 0.05524" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.04341 0.06684" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.20861 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.07058 0.07485" quat="0.00000 0.70711 0.70711 0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 0.00000 0.03952" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.03455 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 -0.13977 0.08769" quat="0.00000 0.00000 1.00000 0.00000" size="0.00403 0.07663 0.07961" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07058 0.09451" quat="0.62692 0.32706 0.32706 0.62692" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04227 0.07058 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07073 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04179 0.20821 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.20821 0.09451" quat="0.32706 0.62692 -0.62692 -0.32706" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.20821 0.07485" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.20821 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.07035 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g17" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="desk_caddy_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json
deleted file mode 100644
index 5b16324e6e8eeee7af12e0d1e7a2d09657d3aa35..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json
+++ /dev/null
@@ -1,403 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "black_book_1_main",
-      "region": "desk_caddy_1_right_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.75,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
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diff --git a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.xml b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.xml
deleted file mode 100644
index dd6a103b19f03dc312058e01b2e614d35926a4dc..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.xml
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="red_coffee_mug_1_red_coffee_mug_vis" conaffinity="0" contype="0" group="1" material="red_coffee_mug_1_red_coffee_mug" name="red_coffee_mug_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01531 -0.00301 0.00526" quat="0.70711 0.00000 0.70711 0.00000" size="0.00251 0.02354 0.02686" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00784 -0.01707 0.06450" quat="0.01829 -0.94542 0.32085 0.05388" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01551 -0.03478 0.06450" quat="0.04024 -0.70596 -0.70596 -0.04024" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01023 0.00559 0.06450" quat="0.98871 -0.00790 0.05635 0.13863" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00677 0.02828 0.06450" quat="0.80894 -0.03335 0.04610 0.58513" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03366 0.02452 0.06450" quat="0.05122 0.43474 0.89876 -0.02478" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04726 -0.00246 0.06450" quat="0.05689 -0.02366 0.99810 0.00135" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03828 -0.02489 0.06450" quat="0.38651 0.05247 0.02203 -0.92053" size="0.00351 0.02064 0.06637" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03685 0.00109 0.05041" quat="0.93181 -0.00000 0.36295 -0.00000" size="0.00292 0.00757 0.03425" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05474 0.00109 0.09435" quat="0.99869 0.00000 -0.05124 0.00000" size="0.00266 0.00692 0.01924" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03457 0.00109 0.11162" quat="0.75578 -0.00000 0.65483 -0.00000" size="0.00266 0.00692 0.01822" group="0" rgba="0.8 0.8 0.8 0.3" name="red_coffee_mug_1_g11" /><joint type="free" damping="0.0005" name="red_coffee_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="red_coffee_mug_1_default_site" /></body>
-      <body name="desk_caddy_1_main">
-      <site type="box" pos="0.00631 -0.14339 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_right_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.00631 0.14551 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_left_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.03364 -0.00064 0.08558" quat="0.00000 0.00000 1.00000 0.00000" size="0.02775 0.06216 0.06046" name="desk_caddy_1_back_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="-0.03102 -0.00064 0.04054" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.02775 0.03595 0.06216" name="desk_caddy_1_front_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="desk_caddy_1_desk_caddy_vis" conaffinity="0" contype="0" group="1" material="desk_caddy_1_desk_caddy" name="desk_caddy_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00760" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00621 0.07550 0.21688" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.06804 0.08502" quat="0.00000 0.70711 0.70711 0.00000" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.20940 0.08502" quat="0.70711 -0.00000 -0.00000 -0.70711" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.06680 -0.00000 0.08677" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.08152 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00156 0.00000 0.05524" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.04341 0.06684" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.20861 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.07058 0.07485" quat="0.00000 0.70711 0.70711 0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 0.00000 0.03952" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.03455 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 -0.13977 0.08769" quat="0.00000 0.00000 1.00000 0.00000" size="0.00403 0.07663 0.07961" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07058 0.09451" quat="0.62692 0.32706 0.32706 0.62692" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04227 0.07058 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07073 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04179 0.20821 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.20821 0.09451" quat="0.32706 0.62692 -0.62692 -0.32706" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.20821 0.07485" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.20821 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.07035 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g17" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="desk_caddy_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json
deleted file mode 100644
index 7a48281ec6eca8955feee2b7d9bcb59fc0dc0b33..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json
+++ /dev/null
@@ -1,427 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "black_book_1_main",
-      "region": "desk_caddy_1_front_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.75,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
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-      0.0,
-      0.01
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-      0.0,
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-      0.0
-    ],
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-      0.0,
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-    [
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-      0.0
-    ],
-    [
-      -0.39072674478997943,
-      -0.14233116962348447,
-      0.887
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
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-    [
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-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
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-    [
-      0.923785244892942,
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-      0.7071067811865475,
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-      0.7071067811865475,
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-      1.0,
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-      1.0,
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-    [
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-    [
-      6.123233995736766e-17,
-      0.0,
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-      1.0
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-  ],
-  "init_state": [
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diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.xml b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.xml
deleted file mode 100644
index 867e08e42af2a980663ba46ec1fae82bf2b960a5..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.xml
+++ /dev/null
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0.16339" size="0.00132 0.01866 0.01909" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04086 0.03118 0.07585" quat="0.00000 -0.42525 0.90508 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00878 0.03868 0.07585" quat="0.00000 -0.76965 0.63846 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01069 0.02867 0.02390" quat="0.55326 0.33057 0.62508 0.44034" size="0.00141 0.01889 0.02163" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01139 0.01272 0.02390" quat="0.01588 -0.29770 -0.64138 0.70693" size="0.00141 0.01889 0.02163" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02192 0.01787 0.07585" quat="0.00000 -0.97400 0.22653 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02287 -0.01804 0.07585" quat="0.00000 -0.23315 0.97244 0.00000" size="0.00244 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01749 -0.01375 0.02390" quat="0.02182 -0.26310 0.65634 0.70677" size="0.00140 0.01886 0.01992" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00826 -0.03498 0.02390" quat="0.52881 -0.29653 0.64193 -0.46942" size="0.00141 0.01888 0.02069" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00646 -0.03994 0.07585" quat="-0.00000 -0.76567 -0.64323 -0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04172 -0.03247 0.07585" quat="0.00000 0.41049 0.91187 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03790 -0.02581 0.02390" quat="0.69053 -0.57176 0.41604 -0.15219" size="0.00141 0.01889 0.02163" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01529 -0.02391 0.00760" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00326 0.00521 0.01554" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03749 -0.00017 0.00760" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00360 0.00521 0.01643" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00524 -0.00421 0.00760" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00360 0.00521 0.01643" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01529 0.01887 0.00760" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00326 0.00521 0.01554" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g22" /><joint type="free" damping="0.0005" name="porcelain_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="porcelain_mug_1_default_site" /></body>
-      <body name="desk_caddy_1_main">
-      <site type="box" pos="0.00631 -0.14339 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_right_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.00631 0.14551 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_left_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.03364 -0.00064 0.08558" quat="0.00000 0.00000 1.00000 0.00000" size="0.02775 0.06216 0.06046" name="desk_caddy_1_back_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="-0.03102 -0.00064 0.04054" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.02775 0.03595 0.06216" name="desk_caddy_1_front_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="desk_caddy_1_desk_caddy_vis" conaffinity="0" contype="0" group="1" material="desk_caddy_1_desk_caddy" name="desk_caddy_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00760" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00621 0.07550 0.21688" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.06804 0.08502" quat="0.00000 0.70711 0.70711 0.00000" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.20940 0.08502" quat="0.70711 -0.00000 -0.00000 -0.70711" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.06680 -0.00000 0.08677" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.08152 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00156 0.00000 0.05524" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.04341 0.06684" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.20861 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.07058 0.07485" quat="0.00000 0.70711 0.70711 0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 0.00000 0.03952" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.03455 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 -0.13977 0.08769" quat="0.00000 0.00000 1.00000 0.00000" size="0.00403 0.07663 0.07961" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07058 0.09451" quat="0.62692 0.32706 0.32706 0.62692" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04227 0.07058 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07073 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04179 0.20821 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.20821 0.09451" quat="0.32706 0.62692 -0.62692 -0.32706" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.20821 0.07485" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.20821 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.07035 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g17" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="desk_caddy_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json
deleted file mode 100644
index 67f01eea6410e117186e13da565dbb9ff6b9d9fc..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json
+++ /dev/null
@@ -1,427 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "black_book_1_main",
-      "region": "desk_caddy_1_left_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.75,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.39072674478997943,
-      -0.14233116962348447,
-      0.887
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
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diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.xml b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.xml
deleted file mode 100644
index 867e08e42af2a980663ba46ec1fae82bf2b960a5..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.xml
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="porcelain_mug_1_porcelain_mug_vis" conaffinity="0" contype="0" group="1" material="porcelain_mug_1_porcelain_mug" name="porcelain_mug_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.05953 -0.00000 0.05602" quat="0.00000 0.00000 1.00000 0.00000" size="0.00376 0.00797 0.01975" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04158 0.00000 0.02862" quat="0.50997 -0.00000 0.86019 -0.00000" size="0.00376 0.00797 0.01975" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04630 -0.00000 0.08342" quat="0.46390 0.00000 -0.88589 0.00000" size="0.00376 0.00797 0.01975" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05678 -0.00147 0.07585" quat="0.00000 0.00000 1.00000 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01477 -0.00164 0.00760" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00521 0.01860 0.01860" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04935 -0.00403 0.02390" quat="0.69215 0.69215 0.14468 -0.14468" size="0.00141 0.01889 0.02163" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03912 0.02444 0.02390" quat="0.68797 0.56492 0.42528 0.16339" size="0.00132 0.01866 0.01909" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04086 0.03118 0.07585" quat="0.00000 -0.42525 0.90508 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00878 0.03868 0.07585" quat="0.00000 -0.76965 0.63846 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01069 0.02867 0.02390" quat="0.55326 0.33057 0.62508 0.44034" size="0.00141 0.01889 0.02163" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01139 0.01272 0.02390" quat="0.01588 -0.29770 -0.64138 0.70693" size="0.00141 0.01889 0.02163" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02192 0.01787 0.07585" quat="0.00000 -0.97400 0.22653 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02287 -0.01804 0.07585" quat="0.00000 -0.23315 0.97244 0.00000" size="0.00244 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01749 -0.01375 0.02390" quat="0.02182 -0.26310 0.65634 0.70677" size="0.00140 0.01886 0.01992" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00826 -0.03498 0.02390" quat="0.52881 -0.29653 0.64193 -0.46942" size="0.00141 0.01888 0.02069" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00646 -0.03994 0.07585" quat="-0.00000 -0.76567 -0.64323 -0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04172 -0.03247 0.07585" quat="0.00000 0.41049 0.91187 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03790 -0.02581 0.02390" quat="0.69053 -0.57176 0.41604 -0.15219" size="0.00141 0.01889 0.02163" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01529 -0.02391 0.00760" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00326 0.00521 0.01554" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03749 -0.00017 0.00760" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00360 0.00521 0.01643" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00524 -0.00421 0.00760" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00360 0.00521 0.01643" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01529 0.01887 0.00760" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00326 0.00521 0.01554" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g22" /><joint type="free" damping="0.0005" name="porcelain_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="porcelain_mug_1_default_site" /></body>
-      <body name="desk_caddy_1_main">
-      <site type="box" pos="0.00631 -0.14339 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_right_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.00631 0.14551 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_left_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="0.03364 -0.00064 0.08558" quat="0.00000 0.00000 1.00000 0.00000" size="0.02775 0.06216 0.06046" name="desk_caddy_1_back_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="-0.03102 -0.00064 0.04054" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.02775 0.03595 0.06216" name="desk_caddy_1_front_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="desk_caddy_1_desk_caddy_vis" conaffinity="0" contype="0" group="1" material="desk_caddy_1_desk_caddy" name="desk_caddy_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00760" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00621 0.07550 0.21688" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.06804 0.08502" quat="0.00000 0.70711 0.70711 0.00000" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.20940 0.08502" quat="0.70711 -0.00000 -0.00000 -0.70711" size="0.00620 0.07062 0.08239" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.06680 -0.00000 0.08677" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.08152 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00156 0.00000 0.05524" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.04341 0.06684" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.20861 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.07058 0.07485" quat="0.00000 0.70711 0.70711 0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 0.00000 0.03952" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00403 0.03455 0.20980" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.06687 -0.13977 0.08769" quat="0.00000 0.00000 1.00000 0.00000" size="0.00403 0.07663 0.07961" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07058 0.09451" quat="0.62692 0.32706 0.32706 0.62692" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04227 0.07058 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.07073 0.04523" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00359 0.03330 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04179 0.20821 0.13866" quat="0.62756 -0.32583 0.32583 -0.62757" size="0.00359 0.01135 0.02792" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.20821 0.09451" quat="0.32706 0.62692 -0.62692 -0.32706" size="0.00359 0.02094 0.07062" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03452 0.20821 0.07485" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00359 0.02992 0.03675" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.20821 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.05494 0.07035 0.12363" quat="0.70709 0.00466 -0.00466 -0.70709" size="0.00359 0.01135 0.01882" group="0" rgba="0.8 0.8 0.8 0.3" name="desk_caddy_1_g17" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="desk_caddy_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json
deleted file mode 100644
index 438e2fd54ef88b04c8a42dd0bdc1f92a69e01e73..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json
+++ /dev/null
@@ -1,427 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "black_book_1_main",
-      "region": "desk_caddy_1_right_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
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diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.xml b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.xml
deleted file mode 100644
index 867e08e42af2a980663ba46ec1fae82bf2b960a5..0000000000000000000000000000000000000000
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0.16339" size="0.00132 0.01866 0.01909" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04086 0.03118 0.07585" quat="0.00000 -0.42525 0.90508 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00878 0.03868 0.07585" quat="0.00000 -0.76965 0.63846 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01069 0.02867 0.02390" quat="0.55326 0.33057 0.62508 0.44034" size="0.00141 0.01889 0.02163" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01139 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size="0.00326 0.00521 0.01554" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g22" /><joint type="free" damping="0.0005" name="porcelain_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="porcelain_mug_1_default_site" /></body>
-      <body name="desk_caddy_1_main">
-      <site type="box" pos="0.00631 -0.14339 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_right_contain_region" rgba="0.8 0.8 0.8 0.0" />
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-      <site type="box" pos="0.03364 -0.00064 0.08558" quat="0.00000 0.00000 1.00000 0.00000" size="0.02775 0.06216 0.06046" name="desk_caddy_1_back_contain_region" rgba="0.8 0.8 0.8 0.0" />
-      <site type="box" pos="-0.03102 -0.00064 0.04054" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.02775 0.03595 0.06216" name="desk_caddy_1_front_contain_region" rgba="0.8 0.8 0.8 0.0" />
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.goal.json
deleted file mode 100644
index dbfbc88275ce98a53d04e6722b23f265d945c173..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.goal.json
+++ /dev/null
@@ -1,441 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "red_coffee_mug_1_main",
-      "site": "study_table_desk_caddy_right_region",
-      "obj_geoms": [
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104
-      ],
-      "parent_geoms": null
-    }
-  ],
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diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.xml b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.xml
deleted file mode 100644
index 867e08e42af2a980663ba46ec1fae82bf2b960a5..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.xml
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0.16339" size="0.00132 0.01866 0.01909" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04086 0.03118 0.07585" quat="0.00000 -0.42525 0.90508 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00878 0.03868 0.07585" quat="0.00000 -0.76965 0.63846 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01069 0.02867 0.02390" quat="0.55326 0.33057 0.62508 0.44034" size="0.00141 0.01889 0.02163" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01139 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name="porcelain_mug_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01529 -0.02391 0.00760" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00326 0.00521 0.01554" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03749 -0.00017 0.00760" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00360 0.00521 0.01643" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00524 -0.00421 0.00760" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00360 0.00521 0.01643" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01529 0.01887 0.00760" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00326 0.00521 0.01554" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g22" /><joint type="free" damping="0.0005" name="porcelain_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="porcelain_mug_1_default_site" /></body>
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.goal.json
deleted file mode 100644
index bd86cd3b07c0a9f692cc8c0d665022f54125c9c0..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.goal.json
+++ /dev/null
@@ -1,452 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "porcelain_mug_1_main",
-      "site": "study_table_desk_caddy_right_region",
-      "obj_geoms": [
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
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diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.xml b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.xml
deleted file mode 100644
index 867e08e42af2a980663ba46ec1fae82bf2b960a5..0000000000000000000000000000000000000000
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0.16339" size="0.00132 0.01866 0.01909" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04086 0.03118 0.07585" quat="0.00000 -0.42525 0.90508 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00878 0.03868 0.07585" quat="0.00000 -0.76965 0.63846 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01069 0.02867 0.02390" quat="0.55326 0.33057 0.62508 0.44034" size="0.00141 0.01889 0.02163" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01139 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density="100" friction="0.95 0.3 0.1" type="box" pos="0.00826 -0.03498 0.02390" quat="0.52881 -0.29653 0.64193 -0.46942" size="0.00141 0.01888 0.02069" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00646 -0.03994 0.07585" quat="-0.00000 -0.76567 -0.64323 -0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04172 -0.03247 0.07585" quat="0.00000 0.41049 0.91187 0.00000" size="0.00243 0.02163 0.03261" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03790 -0.02581 0.02390" quat="0.69053 -0.57176 0.41604 -0.15219" size="0.00141 0.01889 0.02163" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01529 -0.02391 0.00760" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00326 0.00521 0.01554" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03749 -0.00017 0.00760" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00360 0.00521 0.01643" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00524 -0.00421 0.00760" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00360 0.00521 0.01643" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01529 0.01887 0.00760" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00326 0.00521 0.01554" group="0" rgba="0.8 0.8 0.8 0.3" name="porcelain_mug_1_g22" /><joint type="free" damping="0.0005" name="porcelain_mug_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="porcelain_mug_1_default_site" /></body>
-      <body name="desk_caddy_1_main">
-      <site type="box" pos="0.00631 -0.14339 0.06558" quat="0.00000 0.00000 1.00000 0.00000" size="0.06196 0.06216 0.06046" name="desk_caddy_1_right_contain_region" rgba="0.8 0.8 0.8 0.0" />
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.goal.json b/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.goal.json
deleted file mode 100644
index d9f8f212d2a8a4875b855648b123440ccdd26bf5..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.goal.json
+++ /dev/null
@@ -1,427 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "black_book_1_main",
-      "region": "wooden_two_layer_shelf_1_top_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
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diff --git a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.xml b/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.xml
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index e9966116a1617c5d3e6a3500127bc4b4870f60ac..0000000000000000000000000000000000000000
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="yellow_book_1_yellow_book_vis" conaffinity="0" contype="0" group="1" material="yellow_book_1_yellow_book" name="yellow_book_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00164 0.00008 0.06309" quat="0.00000 0.00000 1.00000 0.00000" size="0.01177 0.04887 0.06112" group="0" rgba="0.8 0.8 0.8 0.3" name="yellow_book_1_g1" /><joint type="free" damping="0.0005" name="yellow_book_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="yellow_book_1_default_site" /></body>
-      <body name="yellow_book_2_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="yellow_book_2_yellow_book_vis" conaffinity="0" contype="0" group="1" material="yellow_book_2_yellow_book" name="yellow_book_2_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00164 0.00008 0.06309" quat="0.00000 0.00000 1.00000 0.00000" size="0.01177 0.04887 0.06112" group="0" rgba="0.8 0.8 0.8 0.3" name="yellow_book_2_g1" /><joint type="free" damping="0.0005" name="yellow_book_2_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="yellow_book_2_default_site" /></body>
-      <body name="wooden_two_layer_shelf_1_main">
-      <site type="box" pos="0.00496 0.01567 0.20688" quat="1 0 0 0" size="0.17557 0.09438 0.00147 " name="wooden_two_layer_shelf_1_top_side" rgba="0.8 0.8 0.8 0.0" /><site type="box" pos="0.00538 0.01687 0.13672" quat="0.70711 -0.00000 -0.70711 -0.00000" size="0.06739 0.08564 0.15093" name="wooden_two_layer_shelf_1_top_region" rgba="0.8 0.8 0.8 0.0" /><site type="box" pos="0.00555 0.01687 0.01407" quat="0.70711 0.00000 0.70711 0.00000" size="0.03528 0.08564 0.15580" name="wooden_two_layer_shelf_1_bottom_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_two_layer_shelf_1_wooden_two_layer_shelf_vis" conaffinity="0" contype="0" group="1" material="wooden_two_layer_shelf_1_wooden_two_layer_shelf" name="wooden_two_layer_shelf_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.15376 0.01625 0.10463" quat="0.00000 1.00000 0.00000 0.00000" size="0.00709 0.09542 0.10443" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.16310 0.01625 0.10463" quat="0.00000 1.00000 0.00000 0.00000" size="0.00709 0.09542 0.10443" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00290 0.10938 0.10463" quat="0.49998 0.49998 -0.50002 -0.50002" size="0.00231 0.10443 0.16330" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00550 0.10954 0.10388" quat="0.49984 -0.50083 -0.50016 0.49917" size="0.00193 0.10314 0.15232" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00523 0.01868 0.07005" quat="0.00047 -0.70781 0.00048 0.70641" size="0.00084 0.08935 0.15321" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00498 0.01635 0.20815" quat="0.00047 -0.70781 0.00048 0.70641" size="0.00212 0.09508 0.17563" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g6" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_two_layer_shelf_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf.goal.json b/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf.goal.json
deleted file mode 100644
index fb5dbf519b85506e291692b2a43d536855e9087e..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf.goal.json
+++ /dev/null
@@ -1,438 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "yellow_book_2_main",
-      "site": "wooden_two_layer_shelf_1_top_side",
-      "obj_geoms": [
-        96
-      ],
-      "parent_geoms": [
-        98,
-        99,
-        100,
-        101,
-        102,
-        103
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-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
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-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
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-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
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-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
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-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
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-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf",
-  "body_pos": [
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\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf.xml b/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf.xml
deleted file mode 100644
index e9966116a1617c5d3e6a3500127bc4b4870f60ac..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf.xml
+++ /dev/null
@@ -1,467 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/light-gray-floor-tile.png" type="2d" name="texplane" />
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.1" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    
-    
-    <texture file="libero/scenes/study_wall_painting/study_wall_painting.png" name="tex-study_wall_painting" type="2d" />
-    <material name="study_wall_painting" reflectance="0.5" texrepeat="1 1" texture="tex-study_wall_painting" texuniform="false" />
-    <mesh file="libero/scenes/study_wall_painting/visual/study_wall_painting_vis.msh" name="study_wall_painting_vis" scale="1.0 1.0 1.0" />
-
-    <texture file="libero/scenes/office_book_shelf/ceramic.png" name="tex-office_book_shelf" type="2d" />
-    <material name="office_book_shelf" reflectance="0.5" texrepeat="1 1" texture="tex-office_book_shelf" texuniform="false" />
-    <mesh file="libero/scenes/office_book_shelf/visual/office_book_shelf_vis.msh" name="office_book_shelf_vis" scale="0.7 0.7 0.7" />
-
-    <texture file="libero/scenes/plant/plant_texture.png" name="tex-plant" type="2d" />
-    <material name="plant" reflectance="0.5" texrepeat="1 1" texture="tex-plant" texuniform="false" />
-    <mesh file="libero/scenes/plant/visual/plant_vis.msh" name="plant_vis" scale="0.7 0.7 0.7" />
-
-    <texture file="libero/scenes/black_book/black_book_texture.png" name="tex-black-book" type="2d" />
-    <material name="black_book" reflectance="0.5" texrepeat="1 1" texture="tex-black-book" texuniform="false" />
-    <mesh file="libero/scenes/black_book/visual/black_book_vis.msh" name="black_book_vis" scale="0.7 0.7 0.7" />
-
-    
-
-    <texture file="libero/scenes/desk/desk_texture.png" name="tex-desk" type="2d" />
-    <material name="desk" reflectance="0.5" texrepeat="1 1" texture="tex-desk" texuniform="false" />
-    <mesh file="libero/scenes/desk/visual/desk_vis.msh" name="desk_vis" scale="1.0 1.0 1.0" />
-
-    <texture file="libero/scenes/floor_lamp/lamp_texture.png" name="tex-floor_lamp" type="2d" />
-    <material name="floor_lamp" reflectance="0.5" texrepeat="1 1" texture="tex-floor_lamp" texuniform="false" />
-    <mesh file="libero/scenes/floor_lamp/visual/floor_lamp_vis.msh" name="floor_lamp_vis" scale="1.0 1.0 1.0" />
-
-  <mesh name="robot0_link0" file="robosuite/robots/panda/meshes/link0.stl" />
-        <mesh name="robot0_link1" file="robosuite/robots/panda/meshes/link1.stl" />
-        <mesh name="robot0_link2" file="robosuite/robots/panda/meshes/link2.stl" />
-        <mesh name="robot0_link3" file="robosuite/robots/panda/meshes/link3.stl" />
-        <mesh name="robot0_link4" file="robosuite/robots/panda/meshes/link4.stl" />
-        <mesh name="robot0_link5" file="robosuite/robots/panda/meshes/link5.stl" />
-        <mesh name="robot0_link6" file="robosuite/robots/panda/meshes/link6.stl" />
-        <mesh name="robot0_link7" file="robosuite/robots/panda/meshes/link7.stl" />
-
-        
-	<material name="robot0_Face636_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
-	<material name="robot0_Part__Feature017_001" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
-	<material name="robot0_Part__Feature018_001" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
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-            <geom pos="0 0 0." quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" mesh="gripper0_hand_vis" name="gripper0_hand_visual" rgba="1 1 1 1" />
-            <geom pos="0 0 0." quat="0.707107 0 0 0.707107" type="mesh" mesh="gripper0_hand" group="0" name="gripper0_hand_collision" rgba="0 0 0.5 1" />
-            
-            <body name="gripper0_eef" pos="0 0 0.097" quat="1 0 0 0">
-                <site name="gripper0_grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1" />
-                <site name="gripper0_ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105  0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1" />
-                <site name="gripper0_ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1" />
-                <site name="gripper0_ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1" />
-                
-                <site name="gripper0_grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1" />
-            </body>
-            <body name="gripper0_leftfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.707107">
-                <inertial pos="0 0 0.05" mass="0.1" diaginertia="0.01 0.01 0.005" />
-                <joint name="gripper0_finger_joint1" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.0 0.04" damping="100" armature="1.0" frictionloss="1.0" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="gripper0_finger_vis" name="gripper0_finger1_visual" rgba="0.499 0.499 0.499 1" />
-                <geom type="mesh" group="0" conaffinity="1" contype="0" solref="0.02 1" friction="1 0.005 0.0001" condim="4" mesh="gripper0_finger" name="gripper0_finger1_collision" rgba="0 0 0.5 1" />
-                <body name="gripper0_finger_joint1_tip" pos="0 0.0085 0.056">
-                    <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
-                    <geom size="0.008 0.004 0.008" pos="0 -0.005 -0.015" quat="0 0 0 1" type="box" group="0" solref="0.01 0.5" friction="2 0.05 0.0001" conaffinity="1" contype="1" name="gripper0_finger1_pad_collision" rgba="0 0 0.5 1" />
-                </body>
-            </body>
-            <body name="gripper0_rightfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.707107">
-                <inertial pos="0 0 0.05" mass="0.1" diaginertia="0.01 0.01 0.005" />
-                <joint name="gripper0_finger_joint2" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.04 0.0" damping="100" armature="1.0" frictionloss="1.0" />
-                <geom quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="gripper0_finger_vis" name="gripper0_finger2_visual" rgba="0.499 0.499 0.499 1" />
-                <geom quat="0 0 0 1" type="mesh" group="0" conaffinity="1" contype="0" solref="0.02 1" friction="1 0.005 0.0001" condim="4" mesh="gripper0_finger" name="gripper0_finger2_collision" rgba="0 0 0.5 1" />
-                <body name="gripper0_finger_joint2_tip" pos="0 -0.0085 0.056">
-                    <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
-                    <geom size="0.008 0.004 0.008" pos="0 0.005 -0.015" quat="0 0 0 1" type="box" group="0" solref="0.01 0.5" friction="2 0.05 0.0001" conaffinity="1" contype="1" name="gripper0_finger2_pad_collision" rgba="0 0 0.5 1" />
-                </body>
-            </body>
-        </body>
-    </body>
-                                        </body>
-                                    </body>
-                                </body>
-                            </body>
-                        </body>
-                    </body>
-                </body>
-            </body>
-        <body name="mount0_base" pos="0.0 0.0 0.01">
-            <body name="mount0_controller_box" pos="0 0 0">
-                <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38" />
-                <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="mount0_controller_box_col" rgba="0.5 0.5 0 1" />
-            </body>
-            <body name="mount0_pedestal_feet" pos="0 0 0">
-                <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758" />
-                <geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="mount0_pedestal_feet_col" rgba="0.5 0.5 0 1" />
-            </body>
-            <body name="mount0_torso" pos="0 0 0">
-                <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
-                <geom conaffinity="0" contype="0" group="1" pos="0 0 -0.05" size="0.05 0.05 0.05" type="box" name="mount0_torso_vis" rgba="0.2 0.2 0.2 1" />
-            </body>
-            <body name="mount0_pedestal" pos="0 0 0">
-                <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" />
-                <geom conaffinity="0" contype="0" group="1" mesh="mount0_pedestal" type="mesh" name="mount0_pedestal_vis" rgba="0.2 0.2 0.2 1" />
-                <geom pos="-0.02 0 -0.29" rgba="0.5 0.5 0 1" size="0.18 0.31" type="cylinder" name="mount0_pedestal_col" />
-            </body>
-        </body>
-    </body>
-    <body name="black_book_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="black_book_1_black_book_vis" conaffinity="0" contype="0" group="1" material="black_book_1_black_book" name="black_book_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00047 -0.01215 0.06937" quat="0.00000 0.00000 1.00000 0.00000" size="0.01434 0.05519 0.06720" group="0" rgba="0.8 0.8 0.8 0.3" name="black_book_1_g1" /><joint type="free" damping="0.0005" name="black_book_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="black_book_1_default_site" /></body>
-      <body name="yellow_book_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="yellow_book_1_yellow_book_vis" conaffinity="0" contype="0" group="1" material="yellow_book_1_yellow_book" name="yellow_book_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00164 0.00008 0.06309" quat="0.00000 0.00000 1.00000 0.00000" size="0.01177 0.04887 0.06112" group="0" rgba="0.8 0.8 0.8 0.3" name="yellow_book_1_g1" /><joint type="free" damping="0.0005" name="yellow_book_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="yellow_book_1_default_site" /></body>
-      <body name="yellow_book_2_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="yellow_book_2_yellow_book_vis" conaffinity="0" contype="0" group="1" material="yellow_book_2_yellow_book" name="yellow_book_2_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00164 0.00008 0.06309" quat="0.00000 0.00000 1.00000 0.00000" size="0.01177 0.04887 0.06112" group="0" rgba="0.8 0.8 0.8 0.3" name="yellow_book_2_g1" /><joint type="free" damping="0.0005" name="yellow_book_2_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="yellow_book_2_default_site" /></body>
-      <body name="wooden_two_layer_shelf_1_main">
-      <site type="box" pos="0.00496 0.01567 0.20688" quat="1 0 0 0" size="0.17557 0.09438 0.00147 " name="wooden_two_layer_shelf_1_top_side" rgba="0.8 0.8 0.8 0.0" /><site type="box" pos="0.00538 0.01687 0.13672" quat="0.70711 -0.00000 -0.70711 -0.00000" size="0.06739 0.08564 0.15093" name="wooden_two_layer_shelf_1_top_region" rgba="0.8 0.8 0.8 0.0" /><site type="box" pos="0.00555 0.01687 0.01407" quat="0.70711 0.00000 0.70711 0.00000" size="0.03528 0.08564 0.15580" name="wooden_two_layer_shelf_1_bottom_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_two_layer_shelf_1_wooden_two_layer_shelf_vis" conaffinity="0" contype="0" group="1" material="wooden_two_layer_shelf_1_wooden_two_layer_shelf" name="wooden_two_layer_shelf_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.15376 0.01625 0.10463" quat="0.00000 1.00000 0.00000 0.00000" size="0.00709 0.09542 0.10443" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.16310 0.01625 0.10463" quat="0.00000 1.00000 0.00000 0.00000" size="0.00709 0.09542 0.10443" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00290 0.10938 0.10463" quat="0.49998 0.49998 -0.50002 -0.50002" size="0.00231 0.10443 0.16330" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00550 0.10954 0.10388" quat="0.49984 -0.50083 -0.50016 0.49917" size="0.00193 0.10314 0.15232" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00523 0.01868 0.07005" quat="0.00047 -0.70781 0.00048 0.70641" size="0.00084 0.08935 0.15321" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00498 0.01635 0.20815" quat="0.00047 -0.70781 0.00048 0.70641" size="0.00212 0.09508 0.17563" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g6" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_two_layer_shelf_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.goal.json b/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.goal.json
deleted file mode 100644
index b2fe6dbb14fd670d6ee85fad61e16686389c97ea..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.goal.json
+++ /dev/null
@@ -1,427 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "yellow_book_1_main",
-      "region": "wooden_two_layer_shelf_1_top_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.75,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.19072674478997942,
-      0.2776688303765156,
-      0.887
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "init_state": [
-    0.0,
-    0.0,
-    -0.161037389,
-    0.0,
-    -2.44459747,
-    0.0,
-    2.2267522,
-    0.7853981633974483,
-    0.020833,
-    -0.020833,
-    -0.14334760308904126,
-    -0.14443686498100297,
-    0.937,
-    -0.4293249383689737,
-    0.0,
-    0.0,
-    0.9031500967693447,
-    -0.19942210160494192,
-    0.0013608912218786469,
-    0.937,
-    -0.40951028904137543,
-    0.0,
-    0.0,
-    0.9123054988156374,
-    -0.25857927883604226,
-    -0.2582574140059692,
-    0.937,
-    -0.7014703041229438,
-    0.0,
-    0.0,
-    0.7126986827781184,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0
-  ]
-}
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.xml b/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.xml
deleted file mode 100644
index e9966116a1617c5d3e6a3500127bc4b4870f60ac..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.xml
+++ /dev/null
@@ -1,467 +0,0 @@
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-				    <geom mesh="robot0_link5_vis_2" material="robot0_Part__Feature_002_004_003" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g24_vis" />
-
-                                    <geom type="mesh" group="0" mesh="robot0_link5" name="robot0_link5_collision" rgba="0 0.5 0 1" />
-                                    <body name="robot0_link6" pos="0 0 0" quat="0.707107 0.707107 0 0">
-                                        <inertial pos="0.06 0 0" mass="1.5" diaginertia="0.1 0.1 0.1" />
-                                        <joint name="robot0_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-0.0175 3.7525" damping="0.01" frictionloss="0.1" armature="0.8333333333333334" />
-					<geom mesh="robot0_link6_vis_0" material="robot0_Shell006_003_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g25_vis" />
-					<geom mesh="robot0_link6_vis_1" material="robot0_Shell011_002_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g26_vis" />
-					<geom mesh="robot0_link6_vis_2" material="robot0_Shell007_002_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g27_vis" />
-					<geom mesh="robot0_link6_vis_3" material="robot0_Shell005_001_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g28_vis" />
-					<geom mesh="robot0_link6_vis_4" material="robot0_Shell004_001_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g29_vis" />
-					<geom mesh="robot0_link6_vis_5" material="robot0_Shell003_002_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g30_vis" />
-					<geom mesh="robot0_link6_vis_6" material="robot0_Shell002_002_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g31_vis" />
-					<geom mesh="robot0_link6_vis_7" material="robot0_Union001_001_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g32_vis" />
-					<geom mesh="robot0_link6_vis_8" material="robot0_Union_001_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g33_vis" />
-					<geom mesh="robot0_link6_vis_9" material="robot0_Face539_002_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g34_vis" />
-					<geom mesh="robot0_link6_vis_10" material="robot0_Shell_003_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g35_vis" />
-					<geom mesh="robot0_link6_vis_11" material="robot0_Face374_002_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g36_vis" />
-					<geom mesh="robot0_link6_vis_12" material="robot0_Face065_002_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g37_vis" />
-					<geom mesh="robot0_link6_vis_13" material="robot0_Face064_002_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g38_vis" />
-					<geom mesh="robot0_link6_vis_14" material="robot0_Part__Feature002_006_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g39_vis" />
-					<geom mesh="robot0_link6_vis_15" material="robot0_Part__Feature001_009_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g40_vis" />
-					<geom mesh="robot0_link6_vis_16" material="robot0_Shell012_002_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g41_vis" />
-
-                                        <geom type="mesh" group="0" mesh="robot0_link6" name="robot0_link6_collision" rgba="0 0.5 0 1" />
-                                        <body name="robot0_link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0">
-                                            <inertial pos="0 0 0.08" mass="0.5" diaginertia="0.05 0.05 0.05" />
-                                            <joint name="robot0_joint7" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.01" frictionloss="0.1" armature="0.7142857142857143" />
-					    <geom mesh="robot0_link7_vis_0" material="robot0_Part__Mirroring004_004_002" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g42_vis" />
-					    <geom mesh="robot0_link7_vis_1" material="robot0_Part__Mirroring001_004_002" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g43_vis" />
-					    <geom mesh="robot0_link7_vis_2" material="robot0_Part__Mirroring007_004_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g44_vis" />
-					    <geom mesh="robot0_link7_vis_3" material="robot0_Part__Mirroring006_004_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g45_vis" />
-					    <geom mesh="robot0_link7_vis_4" material="robot0_Part__Mirroring005_004_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g46_vis" />
-					    <geom mesh="robot0_link7_vis_5" material="robot0_Part__Mirroring003_004_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g47_vis" />
-					    <geom mesh="robot0_link7_vis_6" material="robot0_Part__Mirroring002_004_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g48_vis" />
-					    <geom mesh="robot0_link7_vis_7" material="robot0_Part__Mirroring_004_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g49_vis" />
-                                            
-                                            <body name="robot0_right_hand" pos="0 0 0.1065" quat="0.924 0 0 -0.383">
-                                                <inertial pos="0 0 0" mass="0.5" diaginertia="0.05 0.05 0.05" />
-                                                
-                                                <camera mode="fixed" name="robot0_eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75" />
-                                                
-                                            <body name="gripper0_right_gripper" pos="0 0 0" quat="0.707107 0 0 -0.707107">
-            <site name="gripper0_ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />
-            <inertial pos="0 0 0.17" quat="0.707107 0.707107 0 0" mass="0.3" diaginertia="0.09 0.07 0.05" />
-            <geom pos="0 0 0." quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" mesh="gripper0_hand_vis" name="gripper0_hand_visual" rgba="1 1 1 1" />
-            <geom pos="0 0 0." quat="0.707107 0 0 0.707107" type="mesh" mesh="gripper0_hand" group="0" name="gripper0_hand_collision" rgba="0 0 0.5 1" />
-            
-            <body name="gripper0_eef" pos="0 0 0.097" quat="1 0 0 0">
-                <site name="gripper0_grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1" />
-                <site name="gripper0_ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105  0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1" />
-                <site name="gripper0_ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1" />
-                <site name="gripper0_ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1" />
-                
-                <site name="gripper0_grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1" />
-            </body>
-            <body name="gripper0_leftfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.707107">
-                <inertial pos="0 0 0.05" mass="0.1" diaginertia="0.01 0.01 0.005" />
-                <joint name="gripper0_finger_joint1" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.0 0.04" damping="100" armature="1.0" frictionloss="1.0" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="gripper0_finger_vis" name="gripper0_finger1_visual" rgba="0.499 0.499 0.499 1" />
-                <geom type="mesh" group="0" conaffinity="1" contype="0" solref="0.02 1" friction="1 0.005 0.0001" condim="4" mesh="gripper0_finger" name="gripper0_finger1_collision" rgba="0 0 0.5 1" />
-                <body name="gripper0_finger_joint1_tip" pos="0 0.0085 0.056">
-                    <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
-                    <geom size="0.008 0.004 0.008" pos="0 -0.005 -0.015" quat="0 0 0 1" type="box" group="0" solref="0.01 0.5" friction="2 0.05 0.0001" conaffinity="1" contype="1" name="gripper0_finger1_pad_collision" rgba="0 0 0.5 1" />
-                </body>
-            </body>
-            <body name="gripper0_rightfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.707107">
-                <inertial pos="0 0 0.05" mass="0.1" diaginertia="0.01 0.01 0.005" />
-                <joint name="gripper0_finger_joint2" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.04 0.0" damping="100" armature="1.0" frictionloss="1.0" />
-                <geom quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="gripper0_finger_vis" name="gripper0_finger2_visual" rgba="0.499 0.499 0.499 1" />
-                <geom quat="0 0 0 1" type="mesh" group="0" conaffinity="1" contype="0" solref="0.02 1" friction="1 0.005 0.0001" condim="4" mesh="gripper0_finger" name="gripper0_finger2_collision" rgba="0 0 0.5 1" />
-                <body name="gripper0_finger_joint2_tip" pos="0 -0.0085 0.056">
-                    <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
-                    <geom size="0.008 0.004 0.008" pos="0 0.005 -0.015" quat="0 0 0 1" type="box" group="0" solref="0.01 0.5" friction="2 0.05 0.0001" conaffinity="1" contype="1" name="gripper0_finger2_pad_collision" rgba="0 0 0.5 1" />
-                </body>
-            </body>
-        </body>
-    </body>
-                                        </body>
-                                    </body>
-                                </body>
-                            </body>
-                        </body>
-                    </body>
-                </body>
-            </body>
-        <body name="mount0_base" pos="0.0 0.0 0.01">
-            <body name="mount0_controller_box" pos="0 0 0">
-                <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38" />
-                <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="mount0_controller_box_col" rgba="0.5 0.5 0 1" />
-            </body>
-            <body name="mount0_pedestal_feet" pos="0 0 0">
-                <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758" />
-                <geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="mount0_pedestal_feet_col" rgba="0.5 0.5 0 1" />
-            </body>
-            <body name="mount0_torso" pos="0 0 0">
-                <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
-                <geom conaffinity="0" contype="0" group="1" pos="0 0 -0.05" size="0.05 0.05 0.05" type="box" name="mount0_torso_vis" rgba="0.2 0.2 0.2 1" />
-            </body>
-            <body name="mount0_pedestal" pos="0 0 0">
-                <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" />
-                <geom conaffinity="0" contype="0" group="1" mesh="mount0_pedestal" type="mesh" name="mount0_pedestal_vis" rgba="0.2 0.2 0.2 1" />
-                <geom pos="-0.02 0 -0.29" rgba="0.5 0.5 0 1" size="0.18 0.31" type="cylinder" name="mount0_pedestal_col" />
-            </body>
-        </body>
-    </body>
-    <body name="black_book_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="black_book_1_black_book_vis" conaffinity="0" contype="0" group="1" material="black_book_1_black_book" name="black_book_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00047 -0.01215 0.06937" quat="0.00000 0.00000 1.00000 0.00000" size="0.01434 0.05519 0.06720" group="0" rgba="0.8 0.8 0.8 0.3" name="black_book_1_g1" /><joint type="free" damping="0.0005" name="black_book_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="black_book_1_default_site" /></body>
-      <body name="yellow_book_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="yellow_book_1_yellow_book_vis" conaffinity="0" contype="0" group="1" material="yellow_book_1_yellow_book" name="yellow_book_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00164 0.00008 0.06309" quat="0.00000 0.00000 1.00000 0.00000" size="0.01177 0.04887 0.06112" group="0" rgba="0.8 0.8 0.8 0.3" name="yellow_book_1_g1" /><joint type="free" damping="0.0005" name="yellow_book_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="yellow_book_1_default_site" /></body>
-      <body name="yellow_book_2_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="yellow_book_2_yellow_book_vis" conaffinity="0" contype="0" group="1" material="yellow_book_2_yellow_book" name="yellow_book_2_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00164 0.00008 0.06309" quat="0.00000 0.00000 1.00000 0.00000" size="0.01177 0.04887 0.06112" group="0" rgba="0.8 0.8 0.8 0.3" name="yellow_book_2_g1" /><joint type="free" damping="0.0005" name="yellow_book_2_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="yellow_book_2_default_site" /></body>
-      <body name="wooden_two_layer_shelf_1_main">
-      <site type="box" pos="0.00496 0.01567 0.20688" quat="1 0 0 0" size="0.17557 0.09438 0.00147 " name="wooden_two_layer_shelf_1_top_side" rgba="0.8 0.8 0.8 0.0" /><site type="box" pos="0.00538 0.01687 0.13672" quat="0.70711 -0.00000 -0.70711 -0.00000" size="0.06739 0.08564 0.15093" name="wooden_two_layer_shelf_1_top_region" rgba="0.8 0.8 0.8 0.0" /><site type="box" pos="0.00555 0.01687 0.01407" quat="0.70711 0.00000 0.70711 0.00000" size="0.03528 0.08564 0.15580" name="wooden_two_layer_shelf_1_bottom_region" rgba="0.8 0.8 0.8 0.0" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_two_layer_shelf_1_wooden_two_layer_shelf_vis" conaffinity="0" contype="0" group="1" material="wooden_two_layer_shelf_1_wooden_two_layer_shelf" name="wooden_two_layer_shelf_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.15376 0.01625 0.10463" quat="0.00000 1.00000 0.00000 0.00000" size="0.00709 0.09542 0.10443" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.16310 0.01625 0.10463" quat="0.00000 1.00000 0.00000 0.00000" size="0.00709 0.09542 0.10443" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00290 0.10938 0.10463" quat="0.49998 0.49998 -0.50002 -0.50002" size="0.00231 0.10443 0.16330" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00550 0.10954 0.10388" quat="0.49984 -0.50083 -0.50016 0.49917" size="0.00193 0.10314 0.15232" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00523 0.01868 0.07005" quat="0.00047 -0.70781 0.00048 0.70641" size="0.00084 0.08935 0.15321" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00498 0.01635 0.20815" quat="0.00047 -0.70781 0.00048 0.70641" size="0.00212 0.09508 0.17563" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_two_layer_shelf_1_g6" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_two_layer_shelf_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.goal.json b/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.goal.json
deleted file mode 100644
index 5a8b1485cf7c619b570d6ea3344d6b3763fbdcd6..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.goal.json
+++ /dev/null
@@ -1,427 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "yellow_book_1_main",
-      "region": "wooden_two_layer_shelf_1_bottom_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_90",
-  "base": "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.75,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
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diff --git a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.xml b/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.xml
deleted file mode 100644
index e9966116a1617c5d3e6a3500127bc4b4870f60ac..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.xml
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diff --git a/libero/tasks/libero_goal/open_the_middle_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_goal/open_the_middle_drawer_of_the_cabinet.goal.json
deleted file mode 100644
index 1bae71d7db7598a4c2aacbc6f2e8838a94b41ed5..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_goal/open_the_middle_drawer_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,573 +0,0 @@
-{
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-      "thr": -0.14,
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-      5,
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\ No newline at end of file
diff --git a/libero/tasks/libero_goal/open_the_middle_drawer_of_the_cabinet.xml b/libero/tasks/libero_goal/open_the_middle_drawer_of_the_cabinet.xml
deleted file mode 100644
index 4d01191e95a7db01af89f0a3190fe9f5f6248188..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_goal/open_the_middle_drawer_of_the_cabinet.xml
+++ /dev/null
@@ -1,623 +0,0 @@
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-  <size nconmax="5000" njmax="5000" />
-
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-        <mesh name="robot0_link7" file="robosuite/robots/panda/meshes/link7.stl" />
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-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stoppers_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stoppers" name="wine_rack_1_g3" />
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-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stand_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stand" name="wine_rack_1_g6" />
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-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.goal.json b/libero/tasks/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.goal.json
deleted file mode 100644
index fa5f0a18ce48f697c1b76888db8dc148f499f8c2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.goal.json
+++ /dev/null
@@ -1,569 +0,0 @@
-{
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-    {
-      "fn": "in",
-      "obj": "akita_black_bowl_1_main",
-      "region": "wooden_cabinet_1_top_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
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-      1,
-      2,
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-      4,
-      5,
-      6
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-    "arm_act_index": [
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-      4,
-      5,
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-    "grip_act_index": [
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-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
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-    "torque_limits": [
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-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
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-    ],
-    "substeps": 25
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-  "suite": "libero_goal",
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\ No newline at end of file
diff --git a/libero/tasks/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.xml b/libero/tasks/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.xml
deleted file mode 100644
index 4d01191e95a7db01af89f0a3190fe9f5f6248188..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.xml
+++ /dev/null
@@ -1,623 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
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-    <texture file="libero/scenes/../textures/light-gray-floor-tile.png" type="2d" name="texplane" />
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
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-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    
-    
-  <mesh name="robot0_link0" file="robosuite/robots/panda/meshes/link0.stl" />
-        <mesh name="robot0_link1" file="robosuite/robots/panda/meshes/link1.stl" />
-        <mesh name="robot0_link2" file="robosuite/robots/panda/meshes/link2.stl" />
-        <mesh name="robot0_link3" file="robosuite/robots/panda/meshes/link3.stl" />
-        <mesh name="robot0_link4" file="robosuite/robots/panda/meshes/link4.stl" />
-        <mesh name="robot0_link5" file="robosuite/robots/panda/meshes/link5.stl" />
-        <mesh name="robot0_link6" file="robosuite/robots/panda/meshes/link6.stl" />
-        <mesh name="robot0_link7" file="robosuite/robots/panda/meshes/link7.stl" />
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-        
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          <body name="wine_rack_1_main">
-      <site type="box" pos="0 -0.08003 0.21745" quat="0.8549119 -0.5187733 0 0" size="0.10087 0.02200 0.00251" group="0" rgba="0.8 0.8 0.8 0" name="wine_rack_1_top_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_planes_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_planes" name="wine_rack_1_g0" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00610 0.25118" quat="0.68093 0.19061 0.68093 0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g1" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.04273 0.12727" quat="0.68093 0.19061 -0.68093 -0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g2" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stoppers_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stoppers" name="wine_rack_1_g3" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.07477 0.22072" quat="0.61020 -0.35728 -0.61020 0.35728" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.10912 0.09735" quat="0.35728 0.61020 -0.35728 -0.61020" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g5" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stand_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stand" name="wine_rack_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00657" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00450 0.06646 0.09302" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.06935 0.01006" quat="0.70560 -0.04613 -0.70560 0.04613" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g8" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.06430 0.01263" quat="0.04959 -0.70537 -0.04959 0.70537" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g9" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 0.02050" quat="0.70711 0.00000 0.70711 0.00000" size="0.00450 0.01410 0.09045" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g10" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00886 0.17026" quat="0.00000 0.00000 -0.13781 -0.99046" size="0.00762 0.00905 0.16165" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g11" />
-      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wine_rack_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_goal/push_the_plate_to_the_front_of_the_stove.goal.json b/libero/tasks/libero_goal/push_the_plate_to_the_front_of_the_stove.goal.json
deleted file mode 100644
index 29f962dc9f70180ff01a6e453a3008d9d719cfb8..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_goal/push_the_plate_to_the_front_of_the_stove.goal.json
+++ /dev/null
@@ -1,582 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "plate_1_main",
-      "site": "main_table_stove_front_region",
-      "obj_geoms": [
-        151,
-        152,
-        153,
-        154,
-        155,
-        156,
-        157,
-        158,
-        159,
-        160
-      ],
-      "parent_geoms": null
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
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-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_goal",
-  "base": "push_the_plate_to_the_front_of_the_stove",
-  "body_pos": [
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-  ]
-}
\ No newline at end of file
diff --git a/libero/tasks/libero_goal/push_the_plate_to_the_front_of_the_stove.xml b/libero/tasks/libero_goal/push_the_plate_to_the_front_of_the_stove.xml
deleted file mode 100644
index 4d01191e95a7db01af89f0a3190fe9f5f6248188..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_goal/push_the_plate_to_the_front_of_the_stove.xml
+++ /dev/null
@@ -1,623 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/light-gray-floor-tile.png" type="2d" name="texplane" />
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table" />
-    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
-    
-    <texture file="libero/scenes/../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs" />
-    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
-    
-    <texture file="libero/scenes/../textures/light-gray-plaster.png" type="2d" name="tex-wall" />
-
-    <material name="walls_mat" reflectance="0.0" shininess="0.1" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
-    
-    <texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" />
-    <material name="table_mat" texture="textable" />
-
-    
-    
-  <mesh name="robot0_link0" file="robosuite/robots/panda/meshes/link0.stl" />
-        <mesh name="robot0_link1" file="robosuite/robots/panda/meshes/link1.stl" />
-        <mesh name="robot0_link2" file="robosuite/robots/panda/meshes/link2.stl" />
-        <mesh name="robot0_link3" file="robosuite/robots/panda/meshes/link3.stl" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          <body name="wine_rack_1_main">
-      <site type="box" pos="0 -0.08003 0.21745" quat="0.8549119 -0.5187733 0 0" size="0.10087 0.02200 0.00251" group="0" rgba="0.8 0.8 0.8 0" name="wine_rack_1_top_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_planes_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_planes" name="wine_rack_1_g0" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00610 0.25118" quat="0.68093 0.19061 0.68093 0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g1" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.04273 0.12727" quat="0.68093 0.19061 -0.68093 -0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g2" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stoppers_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stoppers" name="wine_rack_1_g3" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.07477 0.22072" quat="0.61020 -0.35728 -0.61020 0.35728" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.10912 0.09735" quat="0.35728 0.61020 -0.35728 -0.61020" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g5" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stand_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stand" name="wine_rack_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00657" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00450 0.06646 0.09302" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g7" />
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-      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wine_rack_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_goal/put_the_bowl_on_the_plate.goal.json b/libero/tasks/libero_goal/put_the_bowl_on_the_plate.goal.json
deleted file mode 100644
index 277e9e974c21df0ed6e28103c9d65a649c0cc3bf..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_goal/put_the_bowl_on_the_plate.goal.json
+++ /dev/null
@@ -1,623 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "akita_black_bowl_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
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-        85,
-        86,
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-        88,
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-        103,
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-        115,
-        116,
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-        118,
-        119,
-        120,
-        121,
-        122,
-        123
-      ],
-      "obj2_geoms": [
-        151,
-        152,
-        153,
-        154,
-        155,
-        156,
-        157,
-        158,
-        159,
-        160
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
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-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
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-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_goal",
-  "base": "put_the_bowl_on_the_plate",
-  "body_pos": [
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diff --git a/libero/tasks/libero_goal/put_the_bowl_on_the_plate.xml b/libero/tasks/libero_goal/put_the_bowl_on_the_plate.xml
deleted file mode 100644
index 4d01191e95a7db01af89f0a3190fe9f5f6248188..0000000000000000000000000000000000000000
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-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          <body name="wine_rack_1_main">
-      <site type="box" pos="0 -0.08003 0.21745" quat="0.8549119 -0.5187733 0 0" size="0.10087 0.02200 0.00251" group="0" rgba="0.8 0.8 0.8 0" name="wine_rack_1_top_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_planes_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_planes" name="wine_rack_1_g0" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00610 0.25118" quat="0.68093 0.19061 0.68093 0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g1" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.04273 0.12727" quat="0.68093 0.19061 -0.68093 -0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g2" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stoppers_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stoppers" name="wine_rack_1_g3" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.07477 0.22072" quat="0.61020 -0.35728 -0.61020 0.35728" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.10912 0.09735" quat="0.35728 0.61020 -0.35728 -0.61020" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g5" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stand_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stand" name="wine_rack_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00657" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00450 0.06646 0.09302" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.06935 0.01006" quat="0.70560 -0.04613 -0.70560 0.04613" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g8" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.06430 0.01263" quat="0.04959 -0.70537 -0.04959 0.70537" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g9" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 0.02050" quat="0.70711 0.00000 0.70711 0.00000" size="0.00450 0.01410 0.09045" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g10" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00886 0.17026" quat="0.00000 0.00000 -0.13781 -0.99046" size="0.00762 0.00905 0.16165" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g11" />
-      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wine_rack_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_goal/put_the_bowl_on_the_stove.goal.json b/libero/tasks/libero_goal/put_the_bowl_on_the_stove.goal.json
deleted file mode 100644
index c00bb467fe90177ec162a003e8949adba67ec358..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_goal/put_the_bowl_on_the_stove.goal.json
+++ /dev/null
@@ -1,633 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "akita_black_bowl_1_main",
-      "site": "flat_stove_1_cook_region",
-      "obj_geoms": [
-        84,
-        85,
-        86,
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123
-      ],
-      "parent_geoms": [
-        205,
-        206,
-        209,
-        210,
-        211,
-        212,
-        213,
-        214,
-        215,
-        216,
-        217,
-        218,
-        219,
-        220,
-        221,
-        222,
-        223,
-        224,
-        225,
-        226
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_goal",
-  "base": "put_the_bowl_on_the_stove",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.03957236684465528,
-      -0.23401682871566554,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.4043894164742709,
-      0.20236548851737868,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.15,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.2671329342518191,
-      -0.2511066216590083,
-      0.9199999999999999
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
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diff --git a/libero/tasks/libero_goal/put_the_bowl_on_the_stove.xml b/libero/tasks/libero_goal/put_the_bowl_on_the_stove.xml
deleted file mode 100644
index 4d01191e95a7db01af89f0a3190fe9f5f6248188..0000000000000000000000000000000000000000
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          <body name="flat_stove_1_main">
-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          <body name="wine_rack_1_main">
-      <site type="box" pos="0 -0.08003 0.21745" quat="0.8549119 -0.5187733 0 0" size="0.10087 0.02200 0.00251" group="0" rgba="0.8 0.8 0.8 0" name="wine_rack_1_top_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_planes_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_planes" name="wine_rack_1_g0" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00610 0.25118" quat="0.68093 0.19061 0.68093 0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g1" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.04273 0.12727" quat="0.68093 0.19061 -0.68093 -0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g2" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stoppers_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stoppers" name="wine_rack_1_g3" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.07477 0.22072" quat="0.61020 -0.35728 -0.61020 0.35728" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.10912 0.09735" quat="0.35728 0.61020 -0.35728 -0.61020" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g5" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stand_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stand" name="wine_rack_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00657" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00450 0.06646 0.09302" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.06935 0.01006" quat="0.70560 -0.04613 -0.70560 0.04613" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g8" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.06430 0.01263" quat="0.04959 -0.70537 -0.04959 0.70537" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g9" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 0.02050" quat="0.70711 0.00000 0.70711 0.00000" size="0.00450 0.01410 0.09045" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g10" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00886 0.17026" quat="0.00000 0.00000 -0.13781 -0.99046" size="0.00762 0.00905 0.16165" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g11" />
-      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wine_rack_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_goal/put_the_bowl_on_top_of_the_cabinet.goal.json b/libero/tasks/libero_goal/put_the_bowl_on_top_of_the_cabinet.goal.json
deleted file mode 100644
index f11939c4ca9b01d209c6b796f7900763ebd61b65..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_goal/put_the_bowl_on_top_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,649 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "akita_black_bowl_1_main",
-      "site": "wooden_cabinet_1_top_side",
-      "obj_geoms": [
-        84,
-        85,
-        86,
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123
-      ],
-      "parent_geoms": [
-        162,
-        163,
-        164,
-        165,
-        166,
-        167,
-        168,
-        169,
-        170,
-        172,
-        173,
-        174,
-        175,
-        176,
-        177,
-        179,
-        180,
-        181,
-        183,
-        184,
-        185,
-        186,
-        187,
-        188,
-        190,
-        191,
-        192,
-        194,
-        195,
-        196,
-        197,
-        198,
-        199,
-        201,
-        202,
-        203
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_goal",
-  "base": "put_the_bowl_on_top_of_the_cabinet",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.03957236684465528,
-      -0.23401682871566554,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
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diff --git a/libero/tasks/libero_goal/put_the_bowl_on_top_of_the_cabinet.xml b/libero/tasks/libero_goal/put_the_bowl_on_top_of_the_cabinet.xml
deleted file mode 100644
index 4d01191e95a7db01af89f0a3190fe9f5f6248188..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_goal/put_the_bowl_on_top_of_the_cabinet.xml
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          <body name="flat_stove_1_main">
-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          <body name="wine_rack_1_main">
-      <site type="box" pos="0 -0.08003 0.21745" quat="0.8549119 -0.5187733 0 0" size="0.10087 0.02200 0.00251" group="0" rgba="0.8 0.8 0.8 0" name="wine_rack_1_top_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_planes_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_planes" name="wine_rack_1_g0" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00610 0.25118" quat="0.68093 0.19061 0.68093 0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g1" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.04273 0.12727" quat="0.68093 0.19061 -0.68093 -0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g2" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stoppers_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stoppers" name="wine_rack_1_g3" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.07477 0.22072" quat="0.61020 -0.35728 -0.61020 0.35728" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.10912 0.09735" quat="0.35728 0.61020 -0.35728 -0.61020" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g5" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stand_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stand" name="wine_rack_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00657" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00450 0.06646 0.09302" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.06935 0.01006" quat="0.70560 -0.04613 -0.70560 0.04613" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g8" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.06430 0.01263" quat="0.04959 -0.70537 -0.04959 0.70537" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g9" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 0.02050" quat="0.70711 0.00000 0.70711 0.00000" size="0.00450 0.01410 0.09045" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g10" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00886 0.17026" quat="0.00000 0.00000 -0.13781 -0.99046" size="0.00762 0.00905 0.16165" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g11" />
-      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wine_rack_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_goal/put_the_cream_cheese_in_the_bowl.goal.json b/libero/tasks/libero_goal/put_the_cream_cheese_in_the_bowl.goal.json
deleted file mode 100644
index e25d7f73454ee8e4f01a926b187e15356b6541c5..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_goal/put_the_cream_cheese_in_the_bowl.goal.json
+++ /dev/null
@@ -1,614 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "cream_cheese_1_main",
-      "obj2": "akita_black_bowl_1_main",
-      "obj_geoms": [
-        125
-      ],
-      "obj2_geoms": [
-        84,
-        85,
-        86,
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_goal",
-  "base": "put_the_cream_cheese_in_the_bowl",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.03957236684465528,
-      -0.23401682871566554,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
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index 4d01191e95a7db01af89f0a3190fe9f5f6248188..0000000000000000000000000000000000000000
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          <body name="flat_stove_1_main">
-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          <body name="wine_rack_1_main">
-      <site type="box" pos="0 -0.08003 0.21745" quat="0.8549119 -0.5187733 0 0" size="0.10087 0.02200 0.00251" group="0" rgba="0.8 0.8 0.8 0" name="wine_rack_1_top_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_planes_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_planes" name="wine_rack_1_g0" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00610 0.25118" quat="0.68093 0.19061 0.68093 0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g1" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.04273 0.12727" quat="0.68093 0.19061 -0.68093 -0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g2" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stoppers_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stoppers" name="wine_rack_1_g3" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.07477 0.22072" quat="0.61020 -0.35728 -0.61020 0.35728" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.10912 0.09735" quat="0.35728 0.61020 -0.35728 -0.61020" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g5" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stand_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stand" name="wine_rack_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00657" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00450 0.06646 0.09302" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.06935 0.01006" quat="0.70560 -0.04613 -0.70560 0.04613" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g8" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.06430 0.01263" quat="0.04959 -0.70537 -0.04959 0.70537" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g9" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 0.02050" quat="0.70711 0.00000 0.70711 0.00000" size="0.00450 0.01410 0.09045" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g10" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00886 0.17026" quat="0.00000 0.00000 -0.13781 -0.99046" size="0.00762 0.00905 0.16165" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g11" />
-      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wine_rack_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_goal/put_the_wine_bottle_on_the_rack.goal.json b/libero/tasks/libero_goal/put_the_wine_bottle_on_the_rack.goal.json
deleted file mode 100644
index 2e0deea6f1225a8a07eef4f45def63e8ecb87fa2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_goal/put_the_wine_bottle_on_the_rack.goal.json
+++ /dev/null
@@ -1,603 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "wine_bottle_1_main",
-      "site": "wine_rack_1_top_region",
-      "obj_geoms": [
-        129,
-        130,
-        131,
-        132,
-        133,
-        134,
-        135,
-        136,
-        137,
-        138,
-        139,
-        140,
-        141,
-        142,
-        143,
-        144,
-        145,
-        146,
-        147,
-        148,
-        149
-      ],
-      "parent_geoms": [
-        228,
-        229,
-        231,
-        232,
-        234,
-        235,
-        236,
-        237,
-        238
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_goal",
-  "base": "put_the_wine_bottle_on_the_rack",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.03957236684465528,
-      -0.23401682871566554,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
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diff --git a/libero/tasks/libero_goal/put_the_wine_bottle_on_the_rack.xml b/libero/tasks/libero_goal/put_the_wine_bottle_on_the_rack.xml
deleted file mode 100644
index 4d01191e95a7db01af89f0a3190fe9f5f6248188..0000000000000000000000000000000000000000
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          <body name="flat_stove_1_main">
-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          <body name="wine_rack_1_main">
-      <site type="box" pos="0 -0.08003 0.21745" quat="0.8549119 -0.5187733 0 0" size="0.10087 0.02200 0.00251" group="0" rgba="0.8 0.8 0.8 0" name="wine_rack_1_top_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_planes_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_planes" name="wine_rack_1_g0" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00610 0.25118" quat="0.68093 0.19061 0.68093 0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g1" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.04273 0.12727" quat="0.68093 0.19061 -0.68093 -0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g2" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stoppers_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stoppers" name="wine_rack_1_g3" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.07477 0.22072" quat="0.61020 -0.35728 -0.61020 0.35728" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.10912 0.09735" quat="0.35728 0.61020 -0.35728 -0.61020" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g5" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stand_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stand" name="wine_rack_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00657" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00450 0.06646 0.09302" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.06935 0.01006" quat="0.70560 -0.04613 -0.70560 0.04613" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g8" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.06430 0.01263" quat="0.04959 -0.70537 -0.04959 0.70537" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g9" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 0.02050" quat="0.70711 0.00000 0.70711 0.00000" size="0.00450 0.01410 0.09045" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g10" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00886 0.17026" quat="0.00000 0.00000 -0.13781 -0.99046" size="0.00762 0.00905 0.16165" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g11" />
-      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wine_rack_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.goal.json b/libero/tasks/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.goal.json
deleted file mode 100644
index 28ac3315f0a3f67c76c8d601434d1594eb849431..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.goal.json
+++ /dev/null
@@ -1,630 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on_site",
-      "obj": "wine_bottle_1_main",
-      "site": "wooden_cabinet_1_top_side",
-      "obj_geoms": [
-        129,
-        130,
-        131,
-        132,
-        133,
-        134,
-        135,
-        136,
-        137,
-        138,
-        139,
-        140,
-        141,
-        142,
-        143,
-        144,
-        145,
-        146,
-        147,
-        148,
-        149
-      ],
-      "parent_geoms": [
-        162,
-        163,
-        164,
-        165,
-        166,
-        167,
-        168,
-        169,
-        170,
-        172,
-        173,
-        174,
-        175,
-        176,
-        177,
-        179,
-        180,
-        181,
-        183,
-        184,
-        185,
-        186,
-        187,
-        188,
-        190,
-        191,
-        192,
-        194,
-        195,
-        196,
-        197,
-        198,
-        199,
-        201,
-        202,
-        203
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_goal",
-  "base": "put_the_wine_bottle_on_top_of_the_cabinet",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.03957236684465528,
-      -0.23401682871566554,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
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diff --git a/libero/tasks/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.xml b/libero/tasks/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.xml
deleted file mode 100644
index 4d01191e95a7db01af89f0a3190fe9f5f6248188..0000000000000000000000000000000000000000
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          <body name="flat_stove_1_main">
-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          <body name="wine_rack_1_main">
-      <site type="box" pos="0 -0.08003 0.21745" quat="0.8549119 -0.5187733 0 0" size="0.10087 0.02200 0.00251" group="0" rgba="0.8 0.8 0.8 0" name="wine_rack_1_top_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_planes_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_planes" name="wine_rack_1_g0" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00610 0.25118" quat="0.68093 0.19061 0.68093 0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g1" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.04273 0.12727" quat="0.68093 0.19061 -0.68093 -0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g2" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stoppers_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stoppers" name="wine_rack_1_g3" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.07477 0.22072" quat="0.61020 -0.35728 -0.61020 0.35728" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.10912 0.09735" quat="0.35728 0.61020 -0.35728 -0.61020" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g5" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stand_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stand" name="wine_rack_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00657" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00450 0.06646 0.09302" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.06935 0.01006" quat="0.70560 -0.04613 -0.70560 0.04613" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g8" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.06430 0.01263" quat="0.04959 -0.70537 -0.04959 0.70537" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g9" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 0.02050" quat="0.70711 0.00000 0.70711 0.00000" size="0.00450 0.01410 0.09045" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g10" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00886 0.17026" quat="0.00000 0.00000 -0.13781 -0.99046" size="0.00762 0.00905 0.16165" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g11" />
-      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wine_rack_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_goal/turn_on_the_stove.goal.json b/libero/tasks/libero_goal/turn_on_the_stove.goal.json
deleted file mode 100644
index bfc1297e1c1900c97c92a6df8a066708c3d2b414..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_goal/turn_on_the_stove.goal.json
+++ /dev/null
@@ -1,573 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "joint",
-      "reduce": "any",
-      "op": "ge",
-      "thr": 0.5,
-      "qpos_addr": [
-        40
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_goal",
-  "base": "turn_on_the_stove",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.03957236684465528,
-      -0.23401682871566554,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.4043894164742709,
-      0.20236548851737868,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.15,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
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index 4d01191e95a7db01af89f0a3190fe9f5f6248188..0000000000000000000000000000000000000000
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          <body name="flat_stove_1_main">
-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          <body name="wine_rack_1_main">
-      <site type="box" pos="0 -0.08003 0.21745" quat="0.8549119 -0.5187733 0 0" size="0.10087 0.02200 0.00251" group="0" rgba="0.8 0.8 0.8 0" name="wine_rack_1_top_region" />
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_planes_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_planes" name="wine_rack_1_g0" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00610 0.25118" quat="0.68093 0.19061 0.68093 0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g1" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.04273 0.12727" quat="0.68093 0.19061 -0.68093 -0.19061" size="0.00450 0.07894 0.13438" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g2" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stoppers_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stoppers" name="wine_rack_1_g3" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.07477 0.22072" quat="0.61020 -0.35728 -0.61020 0.35728" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g4" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.10912 0.09735" quat="0.35728 0.61020 -0.35728 -0.61020" size="0.00108 0.00867 0.13222" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g5" />
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wine_rack_1_wine_rack_stand_vis" conaffinity="0" contype="0" group="1" material="wine_rack_1_wine_rack_stand" name="wine_rack_1_g6" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 0.00657" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00450 0.06646 0.09302" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g7" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.06935 0.01006" quat="0.70560 -0.04613 -0.70560 0.04613" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g8" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.06430 0.01263" quat="0.04959 -0.70537 -0.04959 0.70537" size="0.00447 0.06004 0.08995" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g9" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 0.02050" quat="0.70711 0.00000 0.70711 0.00000" size="0.00450 0.01410 0.09045" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g10" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00886 0.17026" quat="0.00000 0.00000 -0.13781 -0.99046" size="0.00762 0.00905 0.16165" group="0" rgba="0.8 0.8 0.8 0.3" name="wine_rack_1_g11" />
-      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wine_rack_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.goal.json b/libero/tasks/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.goal.json
deleted file mode 100644
index ba5dc4f3f6c901f916c99bd2a4be58f493971965..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,468 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "alphabet_soup_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_object",
-  "base": "pick_up_the_alphabet_soup_and_place_it_in_the_basket",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.6,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
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diff --git a/libero/tasks/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.xml b/libero/tasks/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.xml
deleted file mode 100644
index 03a6f01ddf6a171a1a423c0b0c18cc911e536055..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.xml
+++ /dev/null
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solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g24" /><joint type="free" damping="0.0005" name="tomato_sauce_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="tomato_sauce_1_default_site" /></body>
-      <body name="butter_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="butter_1_butter_vis" conaffinity="0" contype="0" group="1" material="butter_1_butter" name="butter_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 -0.00000" quat="0.00530 0.00000 0.00530 0.00000" size="0.00871 0.01977 0.03809" group="0" rgba="0.8 0.8 0.8 0." name="butter_1_g1" /><joint type="free" damping="0.0005" name="butter_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="butter_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.goal.json b/libero/tasks/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.goal.json
deleted file mode 100644
index c4529de97aaf0aa559dccdee99ed92ae8db46279..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,468 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "bbq_sauce_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
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diff --git a/libero/tasks/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.xml b/libero/tasks/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.xml
deleted file mode 100644
index 6abd8372afcb60cfe30ada250e10c90a39c8a7ae..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.xml
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_object/pick_up_the_butter_and_place_it_in_the_basket.goal.json b/libero/tasks/libero_object/pick_up_the_butter_and_place_it_in_the_basket.goal.json
deleted file mode 100644
index 4bdf597958a0cbb63c658d50fdd59f7880ba7608..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_butter_and_place_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,468 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "butter_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_object",
-  "base": "pick_up_the_butter_and_place_it_in_the_basket",
-  "body_pos": [
-    [
-      0.0,
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diff --git a/libero/tasks/libero_object/pick_up_the_butter_and_place_it_in_the_basket.xml b/libero/tasks/libero_object/pick_up_the_butter_and_place_it_in_the_basket.xml
deleted file mode 100644
index fa56e9e2a97bb7de436bb1f49c782fd9ecff8cf0..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_butter_and_place_it_in_the_basket.xml
+++ /dev/null
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-0.01619" quat="0.68638 0.68638 -0.16993 0.16993" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01937 -0.00060 -0.02393" quat="0.30330 -0.30330 0.63875 0.63875" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00969 -0.00060 -0.03023" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01240 -0.00060 -0.02883" quat="0.60318 0.60318 0.36902 -0.36902" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02745 -0.00099 -0.01027" quat="0.05205 0.05205 -0.70519 0.70519" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02700 -0.00060 0.00886" quat="0.69496 0.69496 0.13049 -0.13049" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g24" /><joint type="free" damping="0.0005" name="tomato_sauce_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="tomato_sauce_1_default_site" /></body>
-      <body name="orange_juice_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="orange_juice_1_textured_vis" conaffinity="0" contype="0" group="1" material="orange_juice_1_textured" name="orange_juice_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00037 -0.01500 0.00000" quat="0.70711 0.70711 0.00000 -0.00000" size="0.02625 0.02625 0.05475" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.04784 -0.01352" quat="0.28687 -0.64630 -0.28687 0.64630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.04784 0.01344" quat="0.29630 0.64203 -0.29630 -0.64203" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.05849 -0.00005" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00295 0.00348 0.02650" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g4" /><joint type="free" damping="0.0005" name="orange_juice_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="orange_juice_1_default_site" /></body>
-      <body name="chocolate_pudding_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="chocolate_pudding_1_textured_vis" conaffinity="0" contype="0" group="1" material="chocolate_pudding_1_textured" name="chocolate_pudding_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00050 0.00000 0.00063" quat="0.70711 0.00000 0.70711 0.00000" size="0.01371 0.02316 0.04010" group="0" rgba="0.8 0.8 0.8 0.3" name="chocolate_pudding_1_g1" /><joint type="free" damping="0.0005" name="chocolate_pudding_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="chocolate_pudding_1_default_site" /></body>
-      <body name="bbq_sauce_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="bbq_sauce_1_bbq_sauce_vis" conaffinity="0" contype="0" group="1" material="bbq_sauce_1_bbq_sauce" name="bbq_sauce_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 -0.02782" quat="0.00000 0.00530 0.00530 0.00000" size="0.01447 0.02349 0.02682" group="0" rgba="0.8 0.8 0.8 0." name="bbq_sauce_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00000 0.01233" quat="0.00375 0.00375 -0.00375 -0.00375" size="0.01428 0.01459 0.01810" group="0" rgba="0.8 0.8 0.8 0." name="bbq_sauce_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00000 0.03910" quat="0.00000 -0.00036 0.00749 -0.00000" size="0.01310 0.01336 0.01336" group="0" rgba="0.8 0.8 0.8 0." name="bbq_sauce_1_g3" /><joint type="free" damping="0.0005" name="bbq_sauce_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="bbq_sauce_1_default_site" /></body>
-      <body name="ketchup_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="ketchup_1_textured_vis" conaffinity="0" contype="0" group="1" material="ketchup_1_textured" name="ketchup_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01695 0.02811 0.03307" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.02393" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.01869" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.01032 0.01414 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01368 0.05471 0.00079" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00292 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01322 0.05471 0.00079" quat="0.00000 0.00000 0.70711 0.70711" size="0.00315 0.00460 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00008 0.05471 -0.01554" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00209 0.00685 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00002 0.05471 0.01682" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00186 0.00740 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 0.00901" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00259 0.00413 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01333 0.05471 -0.00727" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00392 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01254 0.05471 -0.00799" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00405 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01259 0.05471 0.00929" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00380 0.01848" group="0" rgba="0.8 0.8 0.8 0.3" name="ketchup_1_g12" /><joint type="free" damping="0.0005" name="ketchup_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="ketchup_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.goal.json b/libero/tasks/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.goal.json
deleted file mode 100644
index c58f9f5771e5977364e01d71767891c4ea18f1fd..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,468 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "chocolate_pudding_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_object",
-  "base": "pick_up_the_chocolate_pudding_and_place_it_in_the_basket",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.6,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
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diff --git a/libero/tasks/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.xml b/libero/tasks/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.xml
deleted file mode 100644
index c10f1419c5cf9aa99dc813170ce15056d39abcc9..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.xml
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name="alphabet_soup_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.goal.json b/libero/tasks/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.goal.json
deleted file mode 100644
index ec13fb95c3752d5d86129ade3b40a7eb6d7f9093..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,468 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "cream_cheese_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_object",
-  "base": "pick_up_the_cream_cheese_and_place_it_in_the_basket",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
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diff --git a/libero/tasks/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.xml b/libero/tasks/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.xml
deleted file mode 100644
index 011a299c1b22552a522d6e17e0f61af8090503f9..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.xml
+++ /dev/null
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name="alphabet_soup_1_default_site" /></body>
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-      <body name="butter_1_main">
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-      <body name="orange_juice_1_main">
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.goal.json b/libero/tasks/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.goal.json
deleted file mode 100644
index 06af6d5e2eb310ff37b124b781352ee1532a30cc..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,468 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "ketchup_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
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diff --git a/libero/tasks/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.xml b/libero/tasks/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.xml
deleted file mode 100644
index 355fa543de465bf3ba292d6fbe70bab95d9fa874..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.xml
+++ /dev/null
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-      <body name="cream_cheese_1_main">
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-      <body name="milk_1_main">
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_object/pick_up_the_milk_and_place_it_in_the_basket.goal.json b/libero/tasks/libero_object/pick_up_the_milk_and_place_it_in_the_basket.goal.json
deleted file mode 100644
index a98416077ad947c7349663dae0cd5689e9eee20f..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_milk_and_place_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,468 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "milk_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
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diff --git a/libero/tasks/libero_object/pick_up_the_milk_and_place_it_in_the_basket.xml b/libero/tasks/libero_object/pick_up_the_milk_and_place_it_in_the_basket.xml
deleted file mode 100644
index bdb1e52bb781a6244c255f2d6ae86592f33e1a22..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_milk_and_place_it_in_the_basket.xml
+++ /dev/null
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0.3" name="tomato_sauce_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00012 -0.00060 -0.02325" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00421 0.01985 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00012 -0.00060 0.01776" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00421 0.01985 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00012 -0.00060 -0.03162" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00012 -0.00060 0.02575" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02944 -0.00060 -0.00291" quat="0.00030 0.00030 -0.70711 0.70711" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02920 -0.00060 -0.00286" quat="0.70711 0.70711 0.00030 -0.00030" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02685 -0.00060 0.00853" quat="0.12141 -0.12141 0.69661 0.69661" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02626 -0.00060 -0.01619" quat="0.68638 0.68638 -0.16993 0.16993" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01937 -0.00060 -0.02393" quat="0.30330 -0.30330 0.63875 0.63875" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00969 -0.00060 -0.03023" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01240 -0.00060 -0.02883" quat="0.60318 0.60318 0.36902 -0.36902" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02745 -0.00099 -0.01027" quat="0.05205 0.05205 -0.70519 0.70519" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02700 -0.00060 0.00886" quat="0.69496 0.69496 0.13049 -0.13049" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g24" /><joint type="free" damping="0.0005" name="tomato_sauce_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="tomato_sauce_1_default_site" /></body>
-      <body name="butter_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="butter_1_butter_vis" conaffinity="0" contype="0" group="1" material="butter_1_butter" name="butter_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 -0.00000" quat="0.00530 0.00000 0.00530 0.00000" size="0.00871 0.01977 0.03809" group="0" rgba="0.8 0.8 0.8 0." name="butter_1_g1" /><joint type="free" damping="0.0005" name="butter_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="butter_1_default_site" /></body>
-      <body name="orange_juice_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="orange_juice_1_textured_vis" conaffinity="0" contype="0" group="1" material="orange_juice_1_textured" name="orange_juice_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00037 -0.01500 0.00000" quat="0.70711 0.70711 0.00000 -0.00000" size="0.02625 0.02625 0.05475" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.04784 -0.01352" quat="0.28687 -0.64630 -0.28687 0.64630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.04784 0.01344" quat="0.29630 0.64203 -0.29630 -0.64203" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00005 0.05849 -0.00005" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00295 0.00348 0.02650" group="0" rgba="0.8 0.8 0.8 0.3" name="orange_juice_1_g4" /><joint type="free" damping="0.0005" name="orange_juice_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="orange_juice_1_default_site" /></body>
-      <body name="chocolate_pudding_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="chocolate_pudding_1_textured_vis" conaffinity="0" contype="0" group="1" material="chocolate_pudding_1_textured" name="chocolate_pudding_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00050 0.00000 0.00063" quat="0.70711 0.00000 0.70711 0.00000" size="0.01371 0.02316 0.04010" group="0" rgba="0.8 0.8 0.8 0.3" name="chocolate_pudding_1_g1" /><joint type="free" damping="0.0005" name="chocolate_pudding_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="chocolate_pudding_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.goal.json b/libero/tasks/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.goal.json
deleted file mode 100644
index 7850432a61be958f5c5937d37503350e5386df45..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,468 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "orange_juice_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_object",
-  "base": "pick_up_the_orange_juice_and_place_it_in_the_basket",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.6,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
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-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
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-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
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-      -0.7071067811865475
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-    [
-      1.0,
-      0.0,
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-      0.0
-    ],
-    [
-      0.7071067811865475,
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-      0.7071067811865475
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-    [
-      1.0,
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-    [
-      0.7071067811865475,
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-      0.7071067811865475
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-    [
-      1.0,
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-    [
-      1.0,
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-    [
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-    [
-      1.0,
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-      0.0,
-      0.0
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-    [
-      1.0,
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-      0.0,
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-    ],
-    [
-      1.0,
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-    [
-      1.0,
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-    [
-      1.0,
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-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "init_state": [
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-    -0.161037389,
-    0.0,
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-    0.0,
-    2.2267522,
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-    0.020833,
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-    0.05000000000000001,
-    -0.1,
-    0.034999999999999996,
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-    0.002560141800284292,
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-    0.034999999999999996,
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-    0.0,
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-    -0.23574403361707338,
-    -0.005000000000000001,
-    0.0,
-    0.0,
-    0.0,
-    1.0,
-    -0.15,
-    0.06,
-    0.034999999999999996,
-    0.0,
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-    0.0,
-    1.0,
-    0.10556313501899701,
-    -0.19259975703506363,
-    0.034999999999999996,
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-    0.0,
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diff --git a/libero/tasks/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.xml b/libero/tasks/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.xml
deleted file mode 100644
index 97882365ca075b322d6904b4c15e288e8068871b..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.xml
+++ /dev/null
@@ -1,422 +0,0 @@
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-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="salad_dressing_1_textured_vis" conaffinity="0" contype="0" group="1" material="salad_dressing_1_textured" name="salad_dressing_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00012 0.05420 0.00043" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01237 0.01277 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 -0.03138 0.00023" quat="0.70711 -0.00000 -0.70711 -0.00000" size="0.01733 0.02097 0.02637" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00048 0.00843 0.00023" quat="0.70711 0.70711 0.00000 -0.00000" size="0.01294 0.01494 0.02738" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00012 0.05420 -0.01366" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00012 0.05420 0.01479" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01509 0.05420 -0.00068" quat="0.70711 0.70711 0.00086 -0.00086" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01447 0.05420 -0.00068" quat="0.70711 0.70711 0.00086 -0.00086" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01145 0.05420 -0.01062" quat="0.23994 0.23994 0.66515 -0.66515" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01182 0.05420 -0.01062" quat="0.66388 0.66388 0.24343 -0.24343" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01220 0.05420 0.00988" quat="0.21187 0.21187 0.67462 -0.67462" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01158 0.05420 0.00988" quat="0.66557 -0.66557 0.23877 0.23877" size="0.00208 0.00780 0.01865" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 -0.06947 0.00023" quat="0.00000 -0.70711 0.70711 -0.00000" size="0.00325 0.01729 0.01733" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 -0.05722 0.00023" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00558 0.01733 0.02217" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 -0.00434 0.00023" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00558 0.01733 0.02290" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00096 0.00719 0.00023" quat="0.70711 -0.00000 -0.00000 -0.70711" size="0.00558 0.01712 0.01733" group="0" rgba="0.8 0.8 0.8 0.3" name="salad_dressing_1_g15" /><joint type="free" damping="0.0005" name="salad_dressing_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="salad_dressing_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.goal.json b/libero/tasks/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.goal.json
deleted file mode 100644
index 6729df2855ec2263a24188c8fdf04e7daf89bdc1..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,468 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "salad_dressing_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_object",
-  "base": "pick_up_the_salad_dressing_and_place_it_in_the_basket",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.6,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
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-    [
-      0.0,
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-      0.0
-    ],
-    [
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-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
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-    [
-      0.923785244892942,
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-    ],
-    [
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-    [
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-    [
-      0.7071067811865475,
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-    [
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-    [
-      0.7071067811865475,
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-    [
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-    [
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-    [
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-      0.0
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-    [
-      1.0,
-      0.0,
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-  ],
-  "init_state": [
-    0.0,
-    0.0,
-    -0.161037389,
-    0.0,
-    -2.44459747,
-    0.0,
-    2.2267522,
-    0.7853981633974483,
-    0.020833,
-    -0.020833,
-    0.05000000000000001,
-    -0.1,
-    0.034999999999999996,
-    0.5,
-    0.5,
-    0.5,
-    0.5,
-    0.002560141800284292,
-    0.2670633316368612,
-    0.034999999999999996,
-    0.7071067811865476,
-    0.0,
-    0.0,
-    0.7071067811865477,
-    -0.12,
-    -0.24,
-    0.034999999999999996,
-    0.5,
-    0.5,
-    0.5,
-    0.5,
-    -0.15,
-    0.05999999999999999,
-    0.015,
-    0.0,
-    0.0,
-    0.7071067811865476,
-    0.7071067811865477,
-    0.09629987851753181,
-    -0.20478618342232766,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    1.0,
-    0.1503852063774707,
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-    0.0,
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-    0.0,
-    0.0,
-    0.0
-  ]
-}
\ No newline at end of file
diff --git a/libero/tasks/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.xml b/libero/tasks/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.xml
deleted file mode 100644
index 502c85f01106bbdf949a1393379a6173a84add8a..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.xml
+++ /dev/null
@@ -1,423 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" />
-  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002" timestep="0.002" />
-  <size nconmax="5000" njmax="5000" />
-
-  <asset>
-  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
-    <texture file="libero/scenes/../textures/light-gray-floor-tile.png" type="2d" name="texplane" />
-    <material name="floorplane" reflectance="0.0" shininess="0.0" specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true" />
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-0.00060 -0.01619" quat="0.16993 -0.16993 0.68638 0.68638" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="alphabet_soup_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01763 -0.00060 -0.02495" quat="0.30330 -0.30330 0.63875 0.63875" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="alphabet_soup_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00964 -0.00060 -0.03099" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="alphabet_soup_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="alphabet_soup_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01240 -0.00060 -0.02961" quat="0.36902 0.36902 -0.60318 0.60318" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="alphabet_soup_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02167 -0.00060 -0.02144" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="alphabet_soup_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02696 -0.00099 -0.01169" quat="0.05205 0.05205 -0.70519 0.70519" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="alphabet_soup_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02700 -0.00060 0.00886" quat="0.13049 0.13049 -0.69496 0.69496" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="alphabet_soup_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="alphabet_soup_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02026 -0.00060 0.01494" quat="0.20946 -0.20946 0.67537 0.67537" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="alphabet_soup_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="alphabet_soup_1_g21" /><joint type="free" damping="0.0005" name="alphabet_soup_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="alphabet_soup_1_default_site" /></body>
-      <body name="cream_cheese_1_main">
-      
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="cream_cheese_1_cream_cheese_vis" conaffinity="0" contype="0" group="1" material="cream_cheese_1_cream_cheese" name="cream_cheese_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 -0.00000" quat="0.00707 0.00000 0.00707 0.00000" size="0.008936 0.021336 0.040608" group="0" rgba="0.8 0.8 0.8 0.0" name="cream_cheese_1_g1" />
-      <joint type="free" damping="0.0005" name="cream_cheese_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="cream_cheese_1_default_site" /></body>
-      <body name="milk_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="milk_1_textured_vis" conaffinity="0" contype="0" group="1" material="milk_1_textured" name="milk_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00037 -0.01500 0.00000" quat="0.70711 0.70711 0.00000 -0.00000" size="0.02625 0.02625 0.05475" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.04784 0.01352" quat="0.28687 0.64630 -0.28687 -0.64630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.04784 -0.01344" quat="0.64203 0.29630 0.64203 0.29630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.05849 0.00005" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00295 0.00348 0.02650" group="0" rgba="0.8 0.8 0.8 0.3" name="milk_1_g4" /><joint type="free" damping="0.0005" name="milk_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="milk_1_default_site" /></body>
-      <body name="tomato_sauce_1_main">
-      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="tomato_sauce_1_textured_vis" conaffinity="0" contype="0" group="1" material="tomato_sauce_1_textured" name="tomato_sauce_1_g0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00104 -0.00235" quat="0.50000 -0.50000 0.50000 0.50000" size="0.01874 0.02352 0.03625" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g1" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02595 -0.00000 -0.00209" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00226 0.01471 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g2" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02470 -0.00060 -0.00209" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00226 0.01662 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00012 -0.00060 -0.02325" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00421 0.01985 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g4" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00012 -0.00060 0.01776" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00421 0.01985 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g5" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00012 -0.00060 -0.03162" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g6" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00012 -0.00060 0.02575" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g7" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02944 -0.00060 -0.00291" quat="0.00030 0.00030 -0.70711 0.70711" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g8" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02920 -0.00060 -0.00286" quat="0.70711 0.70711 0.00030 -0.00030" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g9" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02685 -0.00060 0.00853" quat="0.12141 -0.12141 0.69661 0.69661" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g10" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02626 -0.00060 -0.01619" quat="0.68638 0.68638 -0.16993 0.16993" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g11" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01937 -0.00060 -0.02393" quat="0.30330 -0.30330 0.63875 0.63875" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g12" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00969 -0.00060 -0.03023" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g13" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g14" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01240 -0.00060 -0.02883" quat="0.60318 0.60318 0.36902 -0.36902" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g15" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g16" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02745 -0.00099 -0.01027" quat="0.05205 0.05205 -0.70519 0.70519" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g17" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02700 -0.00060 0.00886" quat="0.69496 0.69496 0.13049 -0.13049" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g18" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g19" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g20" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g21" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g22" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g23" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" name="tomato_sauce_1_g24" /><joint type="free" damping="0.0005" name="tomato_sauce_1_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="tomato_sauce_1_default_site" /></body>
-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.goal.json b/libero/tasks/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.goal.json
deleted file mode 100644
index 02f19164627dc78e059453773e128e19b5e80ccb..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.goal.json
+++ /dev/null
@@ -1,468 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "in",
-      "obj": "tomato_sauce_1_main",
-      "region": "basket_1_contain_region"
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_object",
-  "base": "pick_up_the_tomato_sauce_and_place_it_in_the_basket",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.6,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
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diff --git a/libero/tasks/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.xml b/libero/tasks/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.xml
deleted file mode 100644
index 7dd2f3e736af708c88b4961135fb982ab6548139..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.xml
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-      <body name="chocolate_pudding_1_main">
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-      </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.goal.json b/libero/tasks/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.goal.json
deleted file mode 100644
index 8b21c918036117bc4eafaef8aa037c1c3d9d9702..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.goal.json
+++ /dev/null
@@ -1,636 +0,0 @@
-{
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-      "obj": "akita_black_bowl_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
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-        86,
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-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123
-      ],
-      "obj2_geoms": [
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-        195,
-        196,
-        197,
-        198,
-        199,
-        200,
-        201,
-        202,
-        203
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
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-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
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-      2,
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-      4,
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-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
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-      -2.44459747,
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-    "torque_limits": [
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-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_spatial",
-  "base": "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate",
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diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.xml b/libero/tasks/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.xml
deleted file mode 100644
index a04622b140786cd67c52af9f7613d4919aeeccc2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.xml
+++ /dev/null
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-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.goal.json b/libero/tasks/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.goal.json
deleted file mode 100644
index 2b4a054e857a17366ef3e79ad10fba66c4b52785..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.goal.json
+++ /dev/null
@@ -1,636 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "akita_black_bowl_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
-        84,
-        85,
-        86,
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123
-      ],
-      "obj2_geoms": [
-        194,
-        195,
-        196,
-        197,
-        198,
-        199,
-        200,
-        201,
-        202,
-        203
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
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-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_spatial",
-  "base": "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
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-      0.0,
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-      0.875
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-      0.0825,
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-    [
-      0.035610583525729114,
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-  "body_quat": [
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diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.xml b/libero/tasks/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.xml
deleted file mode 100644
index a04622b140786cd67c52af9f7613d4919aeeccc2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.xml
+++ /dev/null
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
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\ No newline at end of file
diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.goal.json b/libero/tasks/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.goal.json
deleted file mode 100644
index f732c00fc415635f53aceba911f6ccc202163f17..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.goal.json
+++ /dev/null
@@ -1,636 +0,0 @@
-{
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-        199,
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-      5,
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-    "substeps": 25
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-  "suite": "libero_spatial",
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diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.xml b/libero/tasks/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.xml
deleted file mode 100644
index a04622b140786cd67c52af9f7613d4919aeeccc2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.xml
+++ /dev/null
@@ -1,570 +0,0 @@
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.18393" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g20" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_middle" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="wooden_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle" name="wooden_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle_handle" name="wooden_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g31" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="wooden_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom" name="wooden_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          <body name="flat_stove_1_main">
-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.goal.json b/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.goal.json
deleted file mode 100644
index 08549fa8e4a2538f3b78ce304e69374740a0ecc0..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.goal.json
+++ /dev/null
@@ -1,636 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "akita_black_bowl_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
-        84,
-        85,
-        86,
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123
-      ],
-      "obj2_geoms": [
-        194,
-        195,
-        196,
-        197,
-        198,
-        199,
-        200,
-        201,
-        202,
-        203
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
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diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.xml b/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.xml
deleted file mode 100644
index a04622b140786cd67c52af9f7613d4919aeeccc2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.xml
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          <body name="flat_stove_1_main">
-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.goal.json b/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.goal.json
deleted file mode 100644
index e2d581d99bbab81a4b90ce46659966648818f186..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.goal.json
+++ /dev/null
@@ -1,636 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "akita_black_bowl_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
-        84,
-        85,
-        86,
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123
-      ],
-      "obj2_geoms": [
-        194,
-        195,
-        196,
-        197,
-        198,
-        199,
-        200,
-        201,
-        202,
-        203
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_spatial",
-  "base": "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.035610583525729114,
-      -0.27763451148262136,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.4171329342518191,
-      -0.13110662165900833,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.15,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
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-    [
-      1.0,
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diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.xml b/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.xml
deleted file mode 100644
index a04622b140786cd67c52af9f7613d4919aeeccc2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.xml
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-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.goal.json b/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.goal.json
deleted file mode 100644
index 5acf2a7b9e083348ce22cdb7301eb7f044e71c33..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.goal.json
+++ /dev/null
@@ -1,636 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "akita_black_bowl_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
-        84,
-        85,
-        86,
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123
-      ],
-      "obj2_geoms": [
-        194,
-        195,
-        196,
-        197,
-        198,
-        199,
-        200,
-        201,
-        202,
-        203
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_spatial",
-  "base": "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
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-      -0.66,
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-      0.912
-    ],
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-      0.0,
-      0.0
-    ],
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-      0.0,
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-      0.333
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-      0.0,
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-    [
-      0.0825,
-      0.0,
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-      -0.0825,
-      0.384,
-      0.0
-    ],
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-      0.0
-    ],
-    [
-      0.088,
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-    ],
-    [
-      0.0,
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-      0.0
-    ],
-    [
-      0.035610583525729114,
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-      0.905
-    ],
-    [
-      0.0,
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-  ],
-  "body_quat": [
-    [
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diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.xml b/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.xml
deleted file mode 100644
index a04622b140786cd67c52af9f7613d4919aeeccc2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.xml
+++ /dev/null
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
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\ No newline at end of file
diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.goal.json b/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.goal.json
deleted file mode 100644
index 4c743ab1b52686b5245d55812803d06f941f1ab9..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.goal.json
+++ /dev/null
@@ -1,636 +0,0 @@
-{
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-      "obj": "akita_black_bowl_1_main",
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-        199,
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-  ],
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-    "substeps": 25
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\ No newline at end of file
diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.xml b/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.xml
deleted file mode 100644
index a04622b140786cd67c52af9f7613d4919aeeccc2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.xml
+++ /dev/null
@@ -1,570 +0,0 @@
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g20" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_middle" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_middle_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-		<site name="wooden_cabinet_1_middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle" name="wooden_cabinet_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.11338" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g22" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g23" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.11387" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g24" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g25" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.11387" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g26" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.08543" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g27" />		
-
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_middle_handle" name="wooden_cabinet_1_g28" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.11041" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g29" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g30" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g31" />
-	      </body>
-
-	      <body name="wooden_cabinet_1_cabinet_bottom" pos="0 0.0 0">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="wooden_cabinet_1_bottom_level" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.01" damping="50" />
-
-		<site name="wooden_cabinet_1_bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0" />
-		
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom" name="wooden_cabinet_1_g32" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          <body name="flat_stove_1_main">
-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.goal.json b/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.goal.json
deleted file mode 100644
index c45b97c606cf9e7e42b4c7726867bc20157555b1..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.goal.json
+++ /dev/null
@@ -1,636 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "akita_black_bowl_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
-        84,
-        85,
-        86,
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123
-      ],
-      "obj2_geoms": [
-        194,
-        195,
-        196,
-        197,
-        198,
-        199,
-        200,
-        201,
-        202,
-        203
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
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diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.xml b/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.xml
deleted file mode 100644
index a04622b140786cd67c52af9f7613d4919aeeccc2..0000000000000000000000000000000000000000
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g33" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 0.09077 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g34" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g35" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g36" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g37" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g38" />		
-
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_1_wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_1_wooden_cabinet_bottom_handle" name="wooden_cabinet_1_g39" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g40" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02916 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00552 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g41" />
-<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3" name="wooden_cabinet_1_g42" />		
-	      </body>
-
-
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="wooden_cabinet_1_default_site" /></body>
-          <body name="flat_stove_1_main">
-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.goal.json b/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.goal.json
deleted file mode 100644
index 8e4b75b2c60291955226181e6b71ac4cd5a55569..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.goal.json
+++ /dev/null
@@ -1,636 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "akita_black_bowl_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
-        84,
-        85,
-        86,
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123
-      ],
-      "obj2_geoms": [
-        194,
-        195,
-        196,
-        197,
-        198,
-        199,
-        200,
-        201,
-        202,
-        203
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_spatial",
-  "base": "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
-    [
-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.333
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.316,
-      0.0
-    ],
-    [
-      0.0825,
-      0.0,
-      0.0
-    ],
-    [
-      -0.0825,
-      0.384,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.088,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.1065
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.097
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      0.0085,
-      0.056
-    ],
-    [
-      0.0,
-      0.0,
-      0.0524
-    ],
-    [
-      0.0,
-      -0.0085,
-      0.056
-    ],
-    [
-      0.0,
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-      0.01
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
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-      0.0
-    ],
-    [
-      0.0,
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-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      -0.1,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.03665239691095876,
-      -0.264436864981003,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      -0.40042763315534474,
-      -0.13401682871566553,
-      0.905
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.15,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.0
-    ]
-  ],
-  "body_quat": [
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      -0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.7071067811865475,
-      0.0,
-      0.0
-    ],
-    [
-      0.923785244892942,
-      0.0,
-      0.0,
-      -0.38291098354328656
-    ],
-    [
-      0.7071067811865475,
-      0.0,
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-      -0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
-    ],
-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.7071067811865475,
-      0.0,
-      0.0,
-      0.7071067811865475
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-    [
-      1.0,
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      1.0,
-      0.0,
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-    ],
-    [
-      1.0,
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-    ],
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diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.xml b/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.xml
deleted file mode 100644
index a04622b140786cd67c52af9f7613d4919aeeccc2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.xml
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-	    <body name="flat_stove_1_base" pos="0 0.0 0.0">
-	      <body name="flat_stove_1_burner" pos="0.15 0 0">
-		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="flat_stove_1_cook_region" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_base_vis" />
-		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="flat_stove_1_stove_knob_metal" group="0" name="flat_stove_1_base" />
-		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="flat_stove_1_collision_burner" />
-		<body name="flat_stove_1_burner_plate">
-	       	  <geom pos="0 0 0.025" type="mesh" mesh="flat_stove_1_burnerplate" material="flat_stove_1_stove_knob_metal" group="1" name="flat_stove_1_burner" contype="0" conaffinity="0" />
-		</body>
-		<site name="flat_stove_1_burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder" />
-	      </body>	      
-	      <body name="flat_stove_1_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
-                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
-                <joint name="flat_stove_1_button" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.005 2.1" damping="1" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="flat_stove_1_stove_knob_button_vis" conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0" name="flat_stove_1_g4" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g5" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g6" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g7" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g8" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g9" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g10" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g11" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g12" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file
diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.goal.json b/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.goal.json
deleted file mode 100644
index 83ffc1f31749742393adad07c152aeeaed4e9b4a..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.goal.json
+++ /dev/null
@@ -1,636 +0,0 @@
-{
-  "goal": [
-    {
-      "fn": "on",
-      "obj": "akita_black_bowl_1_main",
-      "obj2": "plate_1_main",
-      "obj_geoms": [
-        84,
-        85,
-        86,
-        87,
-        88,
-        89,
-        90,
-        91,
-        92,
-        93,
-        94,
-        95,
-        96,
-        97,
-        98,
-        99,
-        100,
-        101,
-        102,
-        103,
-        104,
-        105,
-        106,
-        107,
-        108,
-        109,
-        110,
-        111,
-        112,
-        113,
-        114,
-        115,
-        116,
-        117,
-        118,
-        119,
-        120,
-        121,
-        122,
-        123
-      ],
-      "obj2_geoms": [
-        194,
-        195,
-        196,
-        197,
-        198,
-        199,
-        200,
-        201,
-        202,
-        203
-      ]
-    }
-  ],
-  "osc": {
-    "eef_site": "gripper0_grip_site",
-    "arm_qvel_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "arm_act_index": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      6
-    ],
-    "grip_act_index": [
-      7,
-      8
-    ],
-    "initial_joint": [
-      0.0,
-      -0.161037389,
-      0.0,
-      -2.44459747,
-      0.0,
-      2.2267522,
-      0.7853981633974483
-    ],
-    "torque_limits": [
-      [
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -80.0,
-        -12.0,
-        -12.0
-      ],
-      [
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        80.0,
-        12.0,
-        12.0
-      ]
-    ],
-    "substeps": 25
-  },
-  "suite": "libero_spatial",
-  "base": "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate",
-  "body_pos": [
-    [
-      0.0,
-      0.0,
-      0.0
-    ],
-    [
-      0.0,
-      0.0,
-      0.875
-    ],
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-      -0.66,
-      0.0,
-      0.912
-    ],
-    [
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-      0.0,
-      0.0
-    ],
-    [
-      0.0,
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-      0.333
-    ],
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-    ],
-    [
-      0.0,
-      -0.316,
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-    [
-      0.0825,
-      0.0,
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-      -0.0825,
-      0.384,
-      0.0
-    ],
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-      0.0,
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-      0.0
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-    [
-      0.088,
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-    ],
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-      0.1065
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-    [
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-    ],
-    [
-      0.0,
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-    ],
-    [
-      0.03665239691095876,
-      -0.264436864981003,
-      0.905
-    ],
-    [
-      0.0,
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-    [
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-  ],
-  "body_quat": [
-    [
-      1.0,
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-      1.0,
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diff --git a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.xml b/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.xml
deleted file mode 100644
index a04622b140786cd67c52af9f7613d4919aeeccc2..0000000000000000000000000000000000000000
--- a/libero/tasks/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.xml
+++ /dev/null
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-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g13" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g14" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g15" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g16" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g17" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g18" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g19" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g20" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g21" />
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3" name="flat_stove_1_g22" />		
-	      </body>
-	    </body>
-          <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="flat_stove_1_default_site" /></body>
-          </worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /></mujoco>
\ No newline at end of file