def _load_model(self):
        """
        Loads an xml model, puts it in self.model
        """
        super()._load_model()
        self.mujoco_robot.set_base_xpos([0, 0, 0])

        # load model for table top workspace
        self.mujoco_arena = TableArena(
            table_full_size=self.table_full_size, table_friction=self.table_friction
        )
        if self.use_indicator_object:
            self.mujoco_arena.add_pos_indicator()

        # The sawyer robot has a pedestal, we want to align it with the table
        self.mujoco_arena.set_origin([0.16 + self.table_full_size[0] / 2, 0, 0])

        # initialize objects of interest
        cube = BoxObject(
            size_min=[0.020, 0.020, 0.020],  # [0.015, 0.015, 0.015],
            size_max=[0.022, 0.022, 0.022],  # [0.018, 0.018, 0.018])
            rgba=[1, 0, 0, 1],
        )
        self.mujoco_objects = OrderedDict([("cube", cube)])

        # task includes arena, robot, and objects of interest
        self.model = TableTopTask(
            self.mujoco_arena,
            self.mujoco_robot,
            self.mujoco_objects,
            initializer=self.placement_initializer,
        )
        self.model.place_objects()