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retarget
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retarget_example

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jc-bao commited on
Commit
5979119
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1 Parent(s): 13ad753

:tada: add bimanual example to fre with allegro

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Files changed (7) hide show
  1. processed/gigahand/allegro/bimanual/p52-instrument/34/trajectory_mjwp.npz +3 -0
  2. processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_mjwp.mp4 +3 -0
  3. processed/oakink/allegro/bimanual/wipe_board/0/visualization_mjwp.mp4 +2 -2
  4. processed/oakink/allegro/bimanual/wipe_board/scene.xml +66 -66
  5. processed/oakink/allegro/bimanual/wipe_board/scene_eq.xml +66 -66
  6. raw/fair_fre/{rotate_bulb → rotate_bulb_right}/0.pkl +0 -0
  7. raw/fair_fre/rotate_bulb_right/info.json +4 -0
processed/gigahand/allegro/bimanual/p52-instrument/34/trajectory_mjwp.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:b5eefc0260e0bc6f27b43d6ae58938f5c87dcf931bef7cb00851ed77c5b51470
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+ size 364282
processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_mjwp.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:ca3f2ba5a7a2e3c41fdfa09b627c0d2b5b543f285a747894674d056a0560e52a
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+ size 345766
processed/oakink/allegro/bimanual/wipe_board/0/visualization_mjwp.mp4 CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
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- oid sha256:84a5c6283ef9237c9294cbf2a80201a1956d45f7867e9dcd9c107c7c9d68f9b1
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- size 524336
 
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  version https://git-lfs.github.com/spec/v1
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+ oid sha256:84ffd4f866aac45020a03b3ad011432d0fc73915a8bab7562d46d3ff8d8d3f41
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+ size 713709
processed/oakink/allegro/bimanual/wipe_board/scene.xml CHANGED
@@ -1,5 +1,5 @@
1
  <mujoco model="bimanual">
2
- <compiler angle="radian" meshdir="/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/"/>
3
 
4
  <option timestep="0.01" iterations="10">
5
  <flag eulerdamp="disable"/>
@@ -296,19 +296,19 @@
296
  <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
297
  <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
298
  <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
299
- <joint name="right_ffj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
300
  <geom class="right_base_visual" mesh="right_link_0.0"/>
301
  <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
302
  <body name="right_ff_proximal" pos="0 0 0.0164">
303
- <joint name="right_ffj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
304
  <geom class="right_proximal_visual" mesh="right_link_1.0"/>
305
  <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
306
  <body name="right_ff_medial" pos="0 0 0.054">
307
- <joint name="right_ffj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
308
  <geom class="right_medial_visual" mesh="right_link_2.0"/>
309
  <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
310
  <body name="right_ff_distal" pos="0 0 0.0384">
311
- <joint name="right_ffj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
312
  <geom class="right_distal_visual" mesh="right_link_3.0"/>
313
  <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
314
  <body name="right_ff_tip">
@@ -323,19 +323,19 @@
323
  </body>
324
  </body>
325
  <body name="right_mf_base" pos="0 0 0.0007">
326
- <joint name="right_mfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
327
  <geom class="right_base_visual" mesh="right_link_0.0"/>
328
  <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
329
  <body name="right_mf_proximal" pos="0 0 0.0164">
330
- <joint name="right_mfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
331
  <geom class="right_proximal_visual" mesh="right_link_1.0"/>
332
  <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
333
  <body name="right_mf_medial" pos="0 0 0.054">
334
- <joint name="right_mfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
335
  <geom class="right_medial_visual" mesh="right_link_2.0"/>
336
  <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
337
  <body name="right_mf_distal" pos="0 0 0.0384">
338
- <joint name="right_mfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
339
  <geom class="right_distal_visual" mesh="right_link_3.0"/>
340
  <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
341
  <body name="right_mf_tip">
@@ -350,19 +350,19 @@
350
  </body>
351
  </body>
352
  <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
353
- <joint name="right_rfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
354
  <geom class="right_base_visual" mesh="right_link_0.0"/>
355
  <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
356
  <body name="right_rf_proximal" pos="0 0 0.0164">
357
- <joint name="right_rfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
358
  <geom class="right_proximal_visual" mesh="right_link_1.0"/>
359
  <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
360
  <body name="right_rf_medial" pos="0 0 0.054">
361
- <joint name="right_rfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
362
  <geom class="right_medial_visual" mesh="right_link_2.0"/>
363
  <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
364
  <body name="right_rf_distal" pos="0 0 0.0384">
365
- <joint name="right_rfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
366
  <geom class="right_distal_visual" mesh="right_link_3.0"/>
367
  <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
368
  <body name="right_rf_tip">
@@ -377,19 +377,19 @@
377
  </body>
378
  </body>
379
  <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
380
- <joint name="right_thj0" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
381
  <geom class="right_visual" mesh="right_link_12.0_right"/>
382
  <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
383
  <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
384
- <joint name="right_thj1" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
385
  <geom class="right_visual" mesh="right_link_13.0"/>
386
  <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
387
  <body name="right_th_medial" pos="0 0 0.0177">
388
- <joint name="right_thj2" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
389
  <geom class="right_visual" mesh="right_link_14.0"/>
390
  <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
391
  <body name="right_th_distal" pos="0 0 0.0514">
392
- <joint name="right_thj3" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
393
  <geom class="right_visual" mesh="right_link_15.0"/>
394
  <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
395
  <body name="right_th_tip">
@@ -416,19 +416,19 @@
416
  <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
417
  <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
418
  <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
419
- <joint name="left_rfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
420
  <geom class="left_base_visual" mesh="left_link_0.0"/>
421
  <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
422
  <body name="left_rf_proximal" pos="0 0 0.0164">
423
- <joint name="left_rfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
424
  <geom class="left_proximal_visual" mesh="left_link_1.0"/>
425
  <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
426
  <body name="left_rf_medial" pos="0 0 0.054">
427
- <joint name="left_rfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
428
  <geom class="left_medial_visual" mesh="left_link_2.0"/>
429
  <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
430
  <body name="left_rf_distal" pos="0 0 0.0384">
431
- <joint name="left_rfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
432
  <geom class="left_distal_visual" mesh="left_link_3.0"/>
433
  <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
434
  <body name="left_rf_tip">
@@ -443,19 +443,19 @@
443
  </body>
444
  </body>
445
  <body name="left_mf_base" pos="0 0 0.0007">
446
- <joint name="left_mfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
447
  <geom class="left_base_visual" mesh="left_link_0.0"/>
448
  <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
449
  <body name="left_mf_proximal" pos="0 0 0.0164">
450
- <joint name="left_mfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
451
  <geom class="left_proximal_visual" mesh="left_link_1.0"/>
452
  <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
453
  <body name="left_mf_medial" pos="0 0 0.054">
454
- <joint name="left_mfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
455
  <geom class="left_medial_visual" mesh="left_link_2.0"/>
456
  <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
457
  <body name="left_mf_distal" pos="0 0 0.0384">
458
- <joint name="left_mfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
459
  <geom class="left_distal_visual" mesh="left_link_3.0"/>
460
  <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
461
  <body name="left_mf_tip">
@@ -470,19 +470,19 @@
470
  </body>
471
  </body>
472
  <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
473
- <joint name="left_ffj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
474
  <geom class="left_base_visual" mesh="left_link_0.0"/>
475
  <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
476
  <body name="left_ff_proximal" pos="0 0 0.0164">
477
- <joint name="left_ffj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
478
  <geom class="left_proximal_visual" mesh="left_link_1.0"/>
479
  <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
480
  <body name="left_ff_medial" pos="0 0 0.054">
481
- <joint name="left_ffj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
482
  <geom class="left_medial_visual" mesh="left_link_2.0"/>
483
  <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
484
  <body name="left_ff_distal" pos="0 0 0.0384">
485
- <joint name="left_ffj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
486
  <geom class="left_distal_visual" mesh="left_link_3.0"/>
487
  <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
488
  <body name="left_ff_tip">
@@ -497,19 +497,19 @@
497
  </body>
498
  </body>
499
  <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
500
- <joint name="left_thj0" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
501
  <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
502
  <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
503
  <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
504
- <joint name="left_thj1" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
505
  <geom class="left_visual" mesh="left_link_13.0"/>
506
  <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
507
  <body name="left_th_medial" pos="0 0 0.0177">
508
- <joint name="left_thj2" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
509
  <geom class="left_visual" mesh="left_link_14.0"/>
510
  <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
511
  <body name="left_th_distal" pos="0 0 0.0514">
512
- <joint name="left_thj3" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
513
  <geom class="left_visual" mesh="left_link_15.0"/>
514
  <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
515
  <body name="left_th_tip">
@@ -526,7 +526,7 @@
526
  </body>
527
  <body name="right_object">
528
  <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
529
- <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
530
  <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
531
  <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
532
  <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
@@ -889,43 +889,43 @@
889
  <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
890
  <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
891
  <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
892
- <general name="right_ffa0" class="right_base" joint="right_ffj0"/>
893
- <general name="right_ffa1" class="right_proximal" joint="right_ffj1"/>
894
- <general name="right_ffa2" class="right_medial" joint="right_ffj2"/>
895
- <general name="right_ffa3" class="right_distal" joint="right_ffj3"/>
896
- <general name="right_mfa0" class="right_base" joint="right_mfj0"/>
897
- <general name="right_mfa1" class="right_proximal" joint="right_mfj1"/>
898
- <general name="right_mfa2" class="right_medial" joint="right_mfj2"/>
899
- <general name="right_mfa3" class="right_distal" joint="right_mfj3"/>
900
- <general name="right_rfa0" class="right_base" joint="right_rfj0"/>
901
- <general name="right_rfa1" class="right_proximal" joint="right_rfj1"/>
902
- <general name="right_rfa2" class="right_medial" joint="right_rfj2"/>
903
- <general name="right_rfa3" class="right_distal" joint="right_rfj3"/>
904
- <general name="right_tha0" class="right_thumb_base" joint="right_thj0"/>
905
- <general name="right_tha1" class="right_thumb_proximal" joint="right_thj1"/>
906
- <general name="right_tha2" class="right_thumb_medial" joint="right_thj2"/>
907
- <general name="right_tha3" class="right_thumb_distal" joint="right_thj3"/>
908
  <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
909
  <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
910
  <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
911
  <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
912
  <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
913
  <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
914
- <general name="left_rfa0" class="left_base" joint="left_rfj0"/>
915
- <general name="left_rfa1" class="left_proximal" joint="left_rfj1"/>
916
- <general name="left_rfa2" class="left_medial" joint="left_rfj2"/>
917
- <general name="left_rfa3" class="left_distal" joint="left_rfj3"/>
918
- <general name="left_mfa0" class="left_base" joint="left_mfj0"/>
919
- <general name="left_mfa1" class="left_proximal" joint="left_mfj1"/>
920
- <general name="left_mfa2" class="left_medial" joint="left_mfj2"/>
921
- <general name="left_mfa3" class="left_distal" joint="left_mfj3"/>
922
- <general name="left_ffa0" class="left_base" joint="left_ffj0"/>
923
- <general name="left_ffa1" class="left_proximal" joint="left_ffj1"/>
924
- <general name="left_ffa2" class="left_medial" joint="left_ffj2"/>
925
- <general name="left_ffa3" class="left_distal" joint="left_ffj3"/>
926
- <general name="left_tha0" class="left_thumb_base" joint="left_thj0"/>
927
- <general name="left_tha1" class="left_thumb_proximal" joint="left_thj1"/>
928
- <general name="left_tha2" class="left_thumb_medial" joint="left_thj2"/>
929
- <general name="left_tha3" class="left_thumb_distal" joint="left_thj3"/>
930
  </actuator>
931
  </mujoco>
 
1
  <mujoco model="bimanual">
2
+ <compiler angle="radian" meshdir="../../../assets/"/>
3
 
4
  <option timestep="0.01" iterations="10">
5
  <flag eulerdamp="disable"/>
 
296
  <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
297
  <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
298
  <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
299
+ <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
300
  <geom class="right_base_visual" mesh="right_link_0.0"/>
301
  <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
302
  <body name="right_ff_proximal" pos="0 0 0.0164">
303
+ <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
304
  <geom class="right_proximal_visual" mesh="right_link_1.0"/>
305
  <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
306
  <body name="right_ff_medial" pos="0 0 0.054">
307
+ <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
308
  <geom class="right_medial_visual" mesh="right_link_2.0"/>
309
  <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
310
  <body name="right_ff_distal" pos="0 0 0.0384">
311
+ <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
312
  <geom class="right_distal_visual" mesh="right_link_3.0"/>
313
  <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
314
  <body name="right_ff_tip">
 
323
  </body>
324
  </body>
325
  <body name="right_mf_base" pos="0 0 0.0007">
326
+ <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
327
  <geom class="right_base_visual" mesh="right_link_0.0"/>
328
  <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
329
  <body name="right_mf_proximal" pos="0 0 0.0164">
330
+ <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
331
  <geom class="right_proximal_visual" mesh="right_link_1.0"/>
332
  <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
333
  <body name="right_mf_medial" pos="0 0 0.054">
334
+ <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
335
  <geom class="right_medial_visual" mesh="right_link_2.0"/>
336
  <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
337
  <body name="right_mf_distal" pos="0 0 0.0384">
338
+ <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
339
  <geom class="right_distal_visual" mesh="right_link_3.0"/>
340
  <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
341
  <body name="right_mf_tip">
 
350
  </body>
351
  </body>
352
  <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
353
+ <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
354
  <geom class="right_base_visual" mesh="right_link_0.0"/>
355
  <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
356
  <body name="right_rf_proximal" pos="0 0 0.0164">
357
+ <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
358
  <geom class="right_proximal_visual" mesh="right_link_1.0"/>
359
  <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
360
  <body name="right_rf_medial" pos="0 0 0.054">
361
+ <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
362
  <geom class="right_medial_visual" mesh="right_link_2.0"/>
363
  <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
364
  <body name="right_rf_distal" pos="0 0 0.0384">
365
+ <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
366
  <geom class="right_distal_visual" mesh="right_link_3.0"/>
367
  <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
368
  <body name="right_rf_tip">
 
377
  </body>
378
  </body>
379
  <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
380
+ <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
381
  <geom class="right_visual" mesh="right_link_12.0_right"/>
382
  <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
383
  <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
384
+ <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
385
  <geom class="right_visual" mesh="right_link_13.0"/>
386
  <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
387
  <body name="right_th_medial" pos="0 0 0.0177">
388
+ <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
389
  <geom class="right_visual" mesh="right_link_14.0"/>
390
  <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
391
  <body name="right_th_distal" pos="0 0 0.0514">
392
+ <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
393
  <geom class="right_visual" mesh="right_link_15.0"/>
394
  <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
395
  <body name="right_th_tip">
 
416
  <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
417
  <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
418
  <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
419
+ <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
420
  <geom class="left_base_visual" mesh="left_link_0.0"/>
421
  <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
422
  <body name="left_rf_proximal" pos="0 0 0.0164">
423
+ <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
424
  <geom class="left_proximal_visual" mesh="left_link_1.0"/>
425
  <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
426
  <body name="left_rf_medial" pos="0 0 0.054">
427
+ <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
428
  <geom class="left_medial_visual" mesh="left_link_2.0"/>
429
  <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
430
  <body name="left_rf_distal" pos="0 0 0.0384">
431
+ <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
432
  <geom class="left_distal_visual" mesh="left_link_3.0"/>
433
  <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
434
  <body name="left_rf_tip">
 
443
  </body>
444
  </body>
445
  <body name="left_mf_base" pos="0 0 0.0007">
446
+ <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
447
  <geom class="left_base_visual" mesh="left_link_0.0"/>
448
  <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
449
  <body name="left_mf_proximal" pos="0 0 0.0164">
450
+ <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
451
  <geom class="left_proximal_visual" mesh="left_link_1.0"/>
452
  <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
453
  <body name="left_mf_medial" pos="0 0 0.054">
454
+ <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
455
  <geom class="left_medial_visual" mesh="left_link_2.0"/>
456
  <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
457
  <body name="left_mf_distal" pos="0 0 0.0384">
458
+ <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
459
  <geom class="left_distal_visual" mesh="left_link_3.0"/>
460
  <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
461
  <body name="left_mf_tip">
 
470
  </body>
471
  </body>
472
  <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
473
+ <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
474
  <geom class="left_base_visual" mesh="left_link_0.0"/>
475
  <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
476
  <body name="left_ff_proximal" pos="0 0 0.0164">
477
+ <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
478
  <geom class="left_proximal_visual" mesh="left_link_1.0"/>
479
  <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
480
  <body name="left_ff_medial" pos="0 0 0.054">
481
+ <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
482
  <geom class="left_medial_visual" mesh="left_link_2.0"/>
483
  <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
484
  <body name="left_ff_distal" pos="0 0 0.0384">
485
+ <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
486
  <geom class="left_distal_visual" mesh="left_link_3.0"/>
487
  <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
488
  <body name="left_ff_tip">
 
497
  </body>
498
  </body>
499
  <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
500
+ <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
501
  <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
502
  <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
503
  <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
504
+ <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
505
  <geom class="left_visual" mesh="left_link_13.0"/>
506
  <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
507
  <body name="left_th_medial" pos="0 0 0.0177">
508
+ <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
509
  <geom class="left_visual" mesh="left_link_14.0"/>
510
  <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
511
  <body name="left_th_distal" pos="0 0 0.0514">
512
+ <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
513
  <geom class="left_visual" mesh="left_link_15.0"/>
514
  <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
515
  <body name="left_th_tip">
 
526
  </body>
527
  <body name="right_object">
528
  <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
529
+ <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
530
  <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
531
  <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
532
  <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
 
889
  <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
890
  <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
891
  <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
892
+ <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
893
+ <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
894
+ <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
895
+ <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
896
+ <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
897
+ <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
898
+ <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
899
+ <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
900
+ <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
901
+ <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
902
+ <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
903
+ <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
904
+ <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
905
+ <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
906
+ <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
907
+ <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
908
  <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
909
  <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
910
  <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
911
  <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
912
  <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
913
  <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
914
+ <general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
915
+ <general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
916
+ <general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
917
+ <general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
918
+ <general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
919
+ <general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
920
+ <general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
921
+ <general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
922
+ <general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
923
+ <general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
924
+ <general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
925
+ <general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
926
+ <general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
927
+ <general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
928
+ <general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
929
+ <general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
930
  </actuator>
931
  </mujoco>
processed/oakink/allegro/bimanual/wipe_board/scene_eq.xml CHANGED
@@ -1,5 +1,5 @@
1
  <mujoco model="bimanual">
2
- <compiler angle="radian" meshdir="/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/"/>
3
 
4
  <option timestep="0.01" iterations="10">
5
  <flag eulerdamp="disable"/>
@@ -296,19 +296,19 @@
296
  <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
297
  <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
298
  <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
299
- <joint name="right_ffj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
300
  <geom class="right_base_visual" mesh="right_link_0.0"/>
301
  <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
302
  <body name="right_ff_proximal" pos="0 0 0.0164">
303
- <joint name="right_ffj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
304
  <geom class="right_proximal_visual" mesh="right_link_1.0"/>
305
  <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
306
  <body name="right_ff_medial" pos="0 0 0.054">
307
- <joint name="right_ffj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
308
  <geom class="right_medial_visual" mesh="right_link_2.0"/>
309
  <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
310
  <body name="right_ff_distal" pos="0 0 0.0384">
311
- <joint name="right_ffj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
312
  <geom class="right_distal_visual" mesh="right_link_3.0"/>
313
  <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
314
  <body name="right_ff_tip">
@@ -323,19 +323,19 @@
323
  </body>
324
  </body>
325
  <body name="right_mf_base" pos="0 0 0.0007">
326
- <joint name="right_mfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
327
  <geom class="right_base_visual" mesh="right_link_0.0"/>
328
  <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
329
  <body name="right_mf_proximal" pos="0 0 0.0164">
330
- <joint name="right_mfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
331
  <geom class="right_proximal_visual" mesh="right_link_1.0"/>
332
  <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
333
  <body name="right_mf_medial" pos="0 0 0.054">
334
- <joint name="right_mfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
335
  <geom class="right_medial_visual" mesh="right_link_2.0"/>
336
  <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
337
  <body name="right_mf_distal" pos="0 0 0.0384">
338
- <joint name="right_mfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
339
  <geom class="right_distal_visual" mesh="right_link_3.0"/>
340
  <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
341
  <body name="right_mf_tip">
@@ -350,19 +350,19 @@
350
  </body>
351
  </body>
352
  <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
353
- <joint name="right_rfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
354
  <geom class="right_base_visual" mesh="right_link_0.0"/>
355
  <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
356
  <body name="right_rf_proximal" pos="0 0 0.0164">
357
- <joint name="right_rfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
358
  <geom class="right_proximal_visual" mesh="right_link_1.0"/>
359
  <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
360
  <body name="right_rf_medial" pos="0 0 0.054">
361
- <joint name="right_rfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
362
  <geom class="right_medial_visual" mesh="right_link_2.0"/>
363
  <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
364
  <body name="right_rf_distal" pos="0 0 0.0384">
365
- <joint name="right_rfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
366
  <geom class="right_distal_visual" mesh="right_link_3.0"/>
367
  <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
368
  <body name="right_rf_tip">
@@ -377,19 +377,19 @@
377
  </body>
378
  </body>
379
  <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
380
- <joint name="right_thj0" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
381
  <geom class="right_visual" mesh="right_link_12.0_right"/>
382
  <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
383
  <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
384
- <joint name="right_thj1" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
385
  <geom class="right_visual" mesh="right_link_13.0"/>
386
  <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
387
  <body name="right_th_medial" pos="0 0 0.0177">
388
- <joint name="right_thj2" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
389
  <geom class="right_visual" mesh="right_link_14.0"/>
390
  <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
391
  <body name="right_th_distal" pos="0 0 0.0514">
392
- <joint name="right_thj3" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
393
  <geom class="right_visual" mesh="right_link_15.0"/>
394
  <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
395
  <body name="right_th_tip">
@@ -416,19 +416,19 @@
416
  <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
417
  <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
418
  <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
419
- <joint name="left_rfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
420
  <geom class="left_base_visual" mesh="left_link_0.0"/>
421
  <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
422
  <body name="left_rf_proximal" pos="0 0 0.0164">
423
- <joint name="left_rfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
424
  <geom class="left_proximal_visual" mesh="left_link_1.0"/>
425
  <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
426
  <body name="left_rf_medial" pos="0 0 0.054">
427
- <joint name="left_rfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
428
  <geom class="left_medial_visual" mesh="left_link_2.0"/>
429
  <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
430
  <body name="left_rf_distal" pos="0 0 0.0384">
431
- <joint name="left_rfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
432
  <geom class="left_distal_visual" mesh="left_link_3.0"/>
433
  <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
434
  <body name="left_rf_tip">
@@ -443,19 +443,19 @@
443
  </body>
444
  </body>
445
  <body name="left_mf_base" pos="0 0 0.0007">
446
- <joint name="left_mfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
447
  <geom class="left_base_visual" mesh="left_link_0.0"/>
448
  <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
449
  <body name="left_mf_proximal" pos="0 0 0.0164">
450
- <joint name="left_mfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
451
  <geom class="left_proximal_visual" mesh="left_link_1.0"/>
452
  <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
453
  <body name="left_mf_medial" pos="0 0 0.054">
454
- <joint name="left_mfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
455
  <geom class="left_medial_visual" mesh="left_link_2.0"/>
456
  <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
457
  <body name="left_mf_distal" pos="0 0 0.0384">
458
- <joint name="left_mfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
459
  <geom class="left_distal_visual" mesh="left_link_3.0"/>
460
  <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
461
  <body name="left_mf_tip">
@@ -470,19 +470,19 @@
470
  </body>
471
  </body>
472
  <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
473
- <joint name="left_ffj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
474
  <geom class="left_base_visual" mesh="left_link_0.0"/>
475
  <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
476
  <body name="left_ff_proximal" pos="0 0 0.0164">
477
- <joint name="left_ffj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
478
  <geom class="left_proximal_visual" mesh="left_link_1.0"/>
479
  <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
480
  <body name="left_ff_medial" pos="0 0 0.054">
481
- <joint name="left_ffj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
482
  <geom class="left_medial_visual" mesh="left_link_2.0"/>
483
  <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
484
  <body name="left_ff_distal" pos="0 0 0.0384">
485
- <joint name="left_ffj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
486
  <geom class="left_distal_visual" mesh="left_link_3.0"/>
487
  <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
488
  <body name="left_ff_tip">
@@ -497,19 +497,19 @@
497
  </body>
498
  </body>
499
  <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
500
- <joint name="left_thj0" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
501
  <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
502
  <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
503
  <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
504
- <joint name="left_thj1" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
505
  <geom class="left_visual" mesh="left_link_13.0"/>
506
  <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
507
  <body name="left_th_medial" pos="0 0 0.0177">
508
- <joint name="left_thj2" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
509
  <geom class="left_visual" mesh="left_link_14.0"/>
510
  <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
511
  <body name="left_th_distal" pos="0 0 0.0514">
512
- <joint name="left_thj3" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
513
  <geom class="left_visual" mesh="left_link_15.0"/>
514
  <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
515
  <body name="left_th_tip">
@@ -526,7 +526,7 @@
526
  </body>
527
  <body name="right_object">
528
  <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
529
- <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
530
  <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
531
  <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
532
  <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
@@ -908,43 +908,43 @@
908
  <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
909
  <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
910
  <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
911
- <general name="right_ffa0" class="right_base" joint="right_ffj0"/>
912
- <general name="right_ffa1" class="right_proximal" joint="right_ffj1"/>
913
- <general name="right_ffa2" class="right_medial" joint="right_ffj2"/>
914
- <general name="right_ffa3" class="right_distal" joint="right_ffj3"/>
915
- <general name="right_mfa0" class="right_base" joint="right_mfj0"/>
916
- <general name="right_mfa1" class="right_proximal" joint="right_mfj1"/>
917
- <general name="right_mfa2" class="right_medial" joint="right_mfj2"/>
918
- <general name="right_mfa3" class="right_distal" joint="right_mfj3"/>
919
- <general name="right_rfa0" class="right_base" joint="right_rfj0"/>
920
- <general name="right_rfa1" class="right_proximal" joint="right_rfj1"/>
921
- <general name="right_rfa2" class="right_medial" joint="right_rfj2"/>
922
- <general name="right_rfa3" class="right_distal" joint="right_rfj3"/>
923
- <general name="right_tha0" class="right_thumb_base" joint="right_thj0"/>
924
- <general name="right_tha1" class="right_thumb_proximal" joint="right_thj1"/>
925
- <general name="right_tha2" class="right_thumb_medial" joint="right_thj2"/>
926
- <general name="right_tha3" class="right_thumb_distal" joint="right_thj3"/>
927
  <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
928
  <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
929
  <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
930
  <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
931
  <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
932
  <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
933
- <general name="left_rfa0" class="left_base" joint="left_rfj0"/>
934
- <general name="left_rfa1" class="left_proximal" joint="left_rfj1"/>
935
- <general name="left_rfa2" class="left_medial" joint="left_rfj2"/>
936
- <general name="left_rfa3" class="left_distal" joint="left_rfj3"/>
937
- <general name="left_mfa0" class="left_base" joint="left_mfj0"/>
938
- <general name="left_mfa1" class="left_proximal" joint="left_mfj1"/>
939
- <general name="left_mfa2" class="left_medial" joint="left_mfj2"/>
940
- <general name="left_mfa3" class="left_distal" joint="left_mfj3"/>
941
- <general name="left_ffa0" class="left_base" joint="left_ffj0"/>
942
- <general name="left_ffa1" class="left_proximal" joint="left_ffj1"/>
943
- <general name="left_ffa2" class="left_medial" joint="left_ffj2"/>
944
- <general name="left_ffa3" class="left_distal" joint="left_ffj3"/>
945
- <general name="left_tha0" class="left_thumb_base" joint="left_thj0"/>
946
- <general name="left_tha1" class="left_thumb_proximal" joint="left_thj1"/>
947
- <general name="left_tha2" class="left_thumb_medial" joint="left_thj2"/>
948
- <general name="left_tha3" class="left_thumb_distal" joint="left_thj3"/>
949
  </actuator>
950
  </mujoco>
 
1
  <mujoco model="bimanual">
2
+ <compiler angle="radian" meshdir="../../../assets/"/>
3
 
4
  <option timestep="0.01" iterations="10">
5
  <flag eulerdamp="disable"/>
 
296
  <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
297
  <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
298
  <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
299
+ <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
300
  <geom class="right_base_visual" mesh="right_link_0.0"/>
301
  <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
302
  <body name="right_ff_proximal" pos="0 0 0.0164">
303
+ <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
304
  <geom class="right_proximal_visual" mesh="right_link_1.0"/>
305
  <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
306
  <body name="right_ff_medial" pos="0 0 0.054">
307
+ <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
308
  <geom class="right_medial_visual" mesh="right_link_2.0"/>
309
  <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
310
  <body name="right_ff_distal" pos="0 0 0.0384">
311
+ <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
312
  <geom class="right_distal_visual" mesh="right_link_3.0"/>
313
  <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
314
  <body name="right_ff_tip">
 
323
  </body>
324
  </body>
325
  <body name="right_mf_base" pos="0 0 0.0007">
326
+ <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
327
  <geom class="right_base_visual" mesh="right_link_0.0"/>
328
  <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
329
  <body name="right_mf_proximal" pos="0 0 0.0164">
330
+ <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
331
  <geom class="right_proximal_visual" mesh="right_link_1.0"/>
332
  <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
333
  <body name="right_mf_medial" pos="0 0 0.054">
334
+ <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
335
  <geom class="right_medial_visual" mesh="right_link_2.0"/>
336
  <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
337
  <body name="right_mf_distal" pos="0 0 0.0384">
338
+ <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
339
  <geom class="right_distal_visual" mesh="right_link_3.0"/>
340
  <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
341
  <body name="right_mf_tip">
 
350
  </body>
351
  </body>
352
  <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
353
+ <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
354
  <geom class="right_base_visual" mesh="right_link_0.0"/>
355
  <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
356
  <body name="right_rf_proximal" pos="0 0 0.0164">
357
+ <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
358
  <geom class="right_proximal_visual" mesh="right_link_1.0"/>
359
  <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
360
  <body name="right_rf_medial" pos="0 0 0.054">
361
+ <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
362
  <geom class="right_medial_visual" mesh="right_link_2.0"/>
363
  <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
364
  <body name="right_rf_distal" pos="0 0 0.0384">
365
+ <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
366
  <geom class="right_distal_visual" mesh="right_link_3.0"/>
367
  <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
368
  <body name="right_rf_tip">
 
377
  </body>
378
  </body>
379
  <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
380
+ <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
381
  <geom class="right_visual" mesh="right_link_12.0_right"/>
382
  <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
383
  <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
384
+ <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
385
  <geom class="right_visual" mesh="right_link_13.0"/>
386
  <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
387
  <body name="right_th_medial" pos="0 0 0.0177">
388
+ <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
389
  <geom class="right_visual" mesh="right_link_14.0"/>
390
  <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
391
  <body name="right_th_distal" pos="0 0 0.0514">
392
+ <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
393
  <geom class="right_visual" mesh="right_link_15.0"/>
394
  <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
395
  <body name="right_th_tip">
 
416
  <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
417
  <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
418
  <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
419
+ <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
420
  <geom class="left_base_visual" mesh="left_link_0.0"/>
421
  <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
422
  <body name="left_rf_proximal" pos="0 0 0.0164">
423
+ <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
424
  <geom class="left_proximal_visual" mesh="left_link_1.0"/>
425
  <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
426
  <body name="left_rf_medial" pos="0 0 0.054">
427
+ <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
428
  <geom class="left_medial_visual" mesh="left_link_2.0"/>
429
  <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
430
  <body name="left_rf_distal" pos="0 0 0.0384">
431
+ <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
432
  <geom class="left_distal_visual" mesh="left_link_3.0"/>
433
  <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
434
  <body name="left_rf_tip">
 
443
  </body>
444
  </body>
445
  <body name="left_mf_base" pos="0 0 0.0007">
446
+ <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
447
  <geom class="left_base_visual" mesh="left_link_0.0"/>
448
  <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
449
  <body name="left_mf_proximal" pos="0 0 0.0164">
450
+ <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
451
  <geom class="left_proximal_visual" mesh="left_link_1.0"/>
452
  <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
453
  <body name="left_mf_medial" pos="0 0 0.054">
454
+ <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
455
  <geom class="left_medial_visual" mesh="left_link_2.0"/>
456
  <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
457
  <body name="left_mf_distal" pos="0 0 0.0384">
458
+ <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
459
  <geom class="left_distal_visual" mesh="left_link_3.0"/>
460
  <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
461
  <body name="left_mf_tip">
 
470
  </body>
471
  </body>
472
  <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
473
+ <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
474
  <geom class="left_base_visual" mesh="left_link_0.0"/>
475
  <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
476
  <body name="left_ff_proximal" pos="0 0 0.0164">
477
+ <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
478
  <geom class="left_proximal_visual" mesh="left_link_1.0"/>
479
  <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
480
  <body name="left_ff_medial" pos="0 0 0.054">
481
+ <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
482
  <geom class="left_medial_visual" mesh="left_link_2.0"/>
483
  <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
484
  <body name="left_ff_distal" pos="0 0 0.0384">
485
+ <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
486
  <geom class="left_distal_visual" mesh="left_link_3.0"/>
487
  <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
488
  <body name="left_ff_tip">
 
497
  </body>
498
  </body>
499
  <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
500
+ <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
501
  <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
502
  <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
503
  <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
504
+ <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
505
  <geom class="left_visual" mesh="left_link_13.0"/>
506
  <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
507
  <body name="left_th_medial" pos="0 0 0.0177">
508
+ <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
509
  <geom class="left_visual" mesh="left_link_14.0"/>
510
  <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
511
  <body name="left_th_distal" pos="0 0 0.0514">
512
+ <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
513
  <geom class="left_visual" mesh="left_link_15.0"/>
514
  <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
515
  <body name="left_th_tip">
 
526
  </body>
527
  <body name="right_object">
528
  <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
529
+ <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
530
  <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
531
  <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
532
  <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
 
908
  <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
909
  <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
910
  <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
911
+ <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
912
+ <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
913
+ <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
914
+ <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
915
+ <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
916
+ <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
917
+ <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
918
+ <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
919
+ <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
920
+ <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
921
+ <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
922
+ <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
923
+ <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
924
+ <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
925
+ <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
926
+ <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
927
  <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
928
  <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
929
  <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
930
  <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
931
  <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
932
  <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
933
+ <general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
934
+ <general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
935
+ <general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
936
+ <general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
937
+ <general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
938
+ <general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
939
+ <general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
940
+ <general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
941
+ <general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
942
+ <general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
943
+ <general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
944
+ <general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
945
+ <general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
946
+ <general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
947
+ <general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
948
+ <general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
949
  </actuator>
950
  </mujoco>
raw/fair_fre/{rotate_bulb → rotate_bulb_right}/0.pkl RENAMED
File without changes
raw/fair_fre/rotate_bulb_right/info.json ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {
2
+ "right_object_mesh": "bulb.obj",
3
+ "left_object_mesh": null
4
+ }