robogym/envs/dactyl/common/cube_env.py [200:213]:
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            .set_named_objects_attr(
                "robot0:hand_mount",
                tag="body",
                pos=[1.0, 1.25, 0.15],
                euler=[np.pi / 2, 0, np.pi],
            )
            .remove_objects_by_name("robot0:annotation:outer_bound")
            # Remove hand base free joint so that hand is immovable
            .remove_objects_by_name("robot0:hand_base")
        )

        xml.append(MujocoXML.parse(cls.LIGHT_XML))

        simulation = cls(xml.build(nsubsteps=n_substeps))
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robogym/envs/dactyl/reach.py [118:131]:
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            .set_named_objects_attr(
                "robot0:hand_mount",
                tag="body",
                pos=[1.0, 1.25, 0.15],
                euler=[np.pi / 2, 0, np.pi],
            )
            .remove_objects_by_name("robot0:annotation:outer_bound")
            # Remove hand base free joint so that hand is immovable
            .remove_objects_by_name("robot0:hand_base")
        )

        xml.append(MujocoXML.parse(cls.LIGHT_XML))

        simulation = cls(xml.build(nsubsteps=n_substeps))
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