:zap: update reference

processed/oakink/mano/bimanual/lift_board/0/trajectory_keypoints copy.npz

@@ -0,0 +1,3 @@
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+size 230112

processed/oakink/mano/bimanual/lift_board/0/trajectory_keypoints.npz

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-size 207788
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+size 210240

processed/oakink/mano/bimanual/lift_board/0/trajectory_keypoints_raw.npz

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+size 230112

processed/oakink/mano/bimanual/lift_board/task_info.json

@@ -6,5 +6,6 @@
   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0018@00001",
   "left_object_mesh_dir": null,
-  "ref_dt": 0.02
+  "ref_dt": 0.02,
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex"
 }

processed/oakink/mano/bimanual/unplug/0/trajectory_keypoints.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38011bf14455ccf818b6c3d03b6824dacb6fcaff9e7ac0d78abeb019ca421e0e
+size 344160

processed/oakink/xhand/bimanual/complete_data.csv

@@ -1,8 +1,8 @@
-dataset,robot_type,hand_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
-oakink,xhand,bimanual,mjwpeq,wipe_board,0,wipe_board/0,0.07194900048282481,0.21155827392390056,0.07194900048282481,0.004820300819360272,0.21155827392390056,0.027625456405497097,True,0.1,0.5
-oakink,xhand,bimanual,mjwpeq,pour_tube,0,pour_tube/0,0.15723055028374125,1.009022457077967,0.10502229125215733,0.2094388093153252,0.7594869477876413,1.2585579663682926,False,0.1,0.5
-oakink,xhand,bimanual,mjwpeq,uncap_alcohol_burner,0,uncap_alcohol_burner/0,0.07352785164180735,0.190732023530447,0.1423650800482501,0.004690623235364588,0.2614518024070084,0.1200122446538856,True,0.1,0.5
-oakink,xhand,bimanual,mjwpeq,lift_board,0,lift_board/0,0.2017378765468675,0.31506911431131934,0.2017378765468675,2.3147104208745244e-05,0.31506911431131934,1.2776680421642567e-05,False,0.1,0.5
-oakink,xhand,bimanual,mjwpeq,stir_beaker,0,stir_beaker/0,0.09992180188864296,0.43450300648349427,0.19013736826442879,0.009706235512857129,0.7701531256634376,0.09885288730355092,True,0.1,0.5
-oakink,xhand,bimanual,mjwpeq,pick_spoon_bowl,0,pick_spoon_bowl/0,0.07216478837558658,0.36455831294699426,0.13546600254397848,0.00886357420719468,0.696378116456334,0.032738509437654495,True,0.1,0.5
-oakink,xhand,bimanual,mjwpeq,unplug,0,unplug/0,0.03539984810083745,0.11705026496839677,0.06353790625791621,0.0072617899437586895,0.13001966319176583,0.1040808667450277,True,0.1,0.5
+dataset,robot_type,embodiment_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
+oakink,xhand,bimanual,mjwp,uncap_alcohol_burner,0,uncap_alcohol_burner/0,0.07409536366381025,0.18897392725597748,0.143386646309471,0.004804081018149495,0.26166858692837497,0.11627926758358,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,stir_beaker,0,stir_beaker/0,0.09444028073285361,0.5934550119514312,0.1748267091270928,0.014053852338614416,1.0748619584146142,0.1120480654882482,False,0.1,0.5
+oakink,xhand,bimanual,mjwp,unplug,0,unplug/0,0.035899920771594276,0.11780295511710492,0.06165440910444451,0.01014543243874405,0.1255769939341889,0.11002891630002094,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,pick_spoon_bowl,0,pick_spoon_bowl/0,0.094026387872993,0.44110123583386057,0.14622732924790033,0.04182544649808568,0.8141815800105546,0.06802089165716654,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,lift_board,0,lift_board/0,0.21842357251796896,0.374838290985983,0.21842357251796896,7.142218543473562e-05,0.374838290985983,4.761310999709814e-05,False,0.1,0.5
+oakink,xhand,bimanual,mjwp,pour_tube,0,pour_tube/0,0.16434135375271225,1.0735041060385206,0.12467094583938709,0.2040117616660374,0.8238791987187858,1.3231290133582554,False,0.1,0.5
+oakink,xhand,bimanual,mjwp,wipe_board,0,wipe_board/0,0.06894689786120774,0.211557975701542,0.06894689786120774,0.005915557797740802,0.211557975701542,0.027546999049581872,True,0.1,0.5

processed/oakink/xhand/bimanual/lift_board/0/trajectory_ikrollout.npz

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-oid sha256:25fbcba090dc022c753635d3543c364503993d276c3016428fb26ade0d413577
-size 103862
+oid sha256:1c1b254bf5d0c911e05310de91eafad5eb0c404654262052a20a865342be912c
+size 94662

processed/oakink/xhand/bimanual/lift_board/0/trajectory_kinematic.npz

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-oid sha256:23dcd0dd372b9f631e353a0fe4b780301ac1d90915a912d81e0795291cd26986
-size 475212
+oid sha256:ed690716f83e782485d06fbea73357b187a4d6042b4bae52f93ae452871ded44
+size 433260

processed/oakink/xhand/bimanual/lift_board/0/trajectory_mjwp.npz

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-oid sha256:6f0797c3c7c3b6eb7de694b1c40210b59d9b5c7c9b8d5f27874969dd01ae60ef
-size 1164974
+oid sha256:e1df9b643354076e4275d39f4b4c5e646affd02799ba3da0d7763f2ab89d9a6a
+size 603270

processed/oakink/xhand/bimanual/lift_board/0/visualization_mjwp.mp4

@@ -1,3 +1,3 @@
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-oid sha256:d77d2919c0e4e4af3a9634fabb922b594e8a6df3facc1be0e626715196fb6fa6
-size 419353
+oid sha256:57db373644c481d5428e1c6f924cb8e95df346c5108a4c20fd3aa30893e19995
+size 622761

processed/oakink/xhand/bimanual/lift_board/scene.xml

@@ -9,7 +9,7 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
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@@ -103,11 +103,11 @@
                       <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
                       <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
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@@ -126,9 +126,9 @@
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
                       <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -143,9 +143,9 @@
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
                     <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
@@ -159,9 +159,9 @@
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
                     <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
@@ -175,9 +175,9 @@
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
                     <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
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@@ -222,11 +222,11 @@
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
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                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -245,9 +245,9 @@
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
                       <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -262,9 +262,9 @@
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
                     <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
@@ -278,9 +278,9 @@
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
                     <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
@@ -294,9 +294,9 @@
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
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                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
               </body>

processed/oakink/xhand/bimanual/lift_board/scene_eq.xml

@@ -9,7 +9,7 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
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@@ -103,11 +103,11 @@
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                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -126,9 +126,9 @@
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
                       <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -143,9 +143,9 @@
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
                     <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
@@ -159,9 +159,9 @@
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
                     <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
@@ -175,9 +175,9 @@
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
                     <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
               </body>
@@ -222,11 +222,11 @@
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -245,9 +245,9 @@
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
                       <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -262,9 +262,9 @@
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
                     <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
@@ -278,9 +278,9 @@
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
                     <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
@@ -294,9 +294,9 @@
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
                     <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
               </body>

processed/oakink/xhand/bimanual/summary.csv

@@ -1,8 +1,8 @@
-task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,pos_err_threshold,quat_err_threshold,timestamp,data_type,data_id,obj_pos_err,obj_quat_err,success
-wipe_board,1,1,1.0,0.07194900048282481,0.0,0.21155827392390056,0.0,oakink,xhand,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.07194900048282481,0.21155827392390056,True
-pour_tube,1,0,0.0,0.15723055028374125,0.0,1.009022457077967,0.0,oakink,xhand,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.15723055028374125,1.009022457077967,False
-uncap_alcohol_burner,1,1,1.0,0.07352785164180735,0.0,0.190732023530447,0.0,oakink,xhand,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.07352785164180735,0.190732023530447,True
-lift_board,1,0,0.0,0.2017378765468675,0.0,0.31506911431131934,0.0,oakink,xhand,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.2017378765468675,0.31506911431131934,False
-stir_beaker,1,1,1.0,0.09992180188864296,0.0,0.43450300648349427,0.0,oakink,xhand,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.09992180188864296,0.43450300648349427,True
-pick_spoon_bowl,1,1,1.0,0.07216478837558658,0.0,0.36455831294699426,0.0,oakink,xhand,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.07216478837558658,0.36455831294699426,True
-unplug,1,1,1.0,0.03539984810083745,0.0,0.11705026496839677,0.0,oakink,xhand,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.03539984810083745,0.11705026496839677,True
+dataset,robot_type,embodiment_type,data_type,task,data_id,obj_pos_err,obj_quat_err,success,pos_err_threshold,quat_err_threshold,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,timestamp
+oakink,xhand,bimanual,mjwp,uncap_alcohol_burner,0,0.07409536366381025,0.18897392725597748,True,0.1,0.5,1,1,1.0,0.07409536366381025,0.0,0.18897392725597748,0.0,2026-01-26 14:15:16
+oakink,xhand,bimanual,mjwp,stir_beaker,0,0.09444028073285361,0.5934550119514312,False,0.1,0.5,1,0,0.0,0.09444028073285361,0.0,0.5934550119514312,0.0,2026-01-26 14:15:16
+oakink,xhand,bimanual,mjwp,unplug,0,0.035899920771594276,0.11780295511710492,True,0.1,0.5,1,1,1.0,0.035899920771594276,0.0,0.11780295511710492,0.0,2026-01-26 14:15:16
+oakink,xhand,bimanual,mjwp,pick_spoon_bowl,0,0.094026387872993,0.44110123583386057,True,0.1,0.5,1,1,1.0,0.094026387872993,0.0,0.44110123583386057,0.0,2026-01-26 14:15:16
+oakink,xhand,bimanual,mjwp,lift_board,0,0.21842357251796896,0.374838290985983,False,0.1,0.5,1,0,0.0,0.21842357251796896,0.0,0.374838290985983,0.0,2026-01-26 14:15:16
+oakink,xhand,bimanual,mjwp,pour_tube,0,0.16434135375271225,1.0735041060385206,False,0.1,0.5,1,0,0.0,0.16434135375271225,0.0,1.0735041060385206,0.0,2026-01-26 14:15:16
+oakink,xhand,bimanual,mjwp,wipe_board,0,0.06894689786120774,0.211557975701542,True,0.1,0.5,1,1,1.0,0.06894689786120774,0.0,0.211557975701542,0.0,2026-01-26 14:15:16

processed/oakink/xhand/bimanual/unplug/0/trajectory_ikrollout.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:75da30a1a773e4abf295091753226b3cb7633b897e9b6482f7734ec8aeabbb1f
-size 157062
+oid sha256:ce60e5679fc09768575076cfde6159875705cc51816766cb77c428d7531ca112
+size 156662

processed/oakink/xhand/bimanual/unplug/0/trajectory_kinematic.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5ff077dc7a0e11e707565ff13d020c347195ff6b234a89638a4b3f64f18dbf30
-size 717804
+oid sha256:3df58e77e9bd88c054a739dedb070ef98d1453a828cd4a7cffafe0de787e1d1f
+size 715980

processed/oakink/xhand/bimanual/unplug/scene.xml

@@ -9,7 +9,7 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
@@ -103,11 +103,11 @@
                       <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
                       <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -126,9 +126,9 @@
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
                       <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -143,9 +143,9 @@
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
                     <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
@@ -159,9 +159,9 @@
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
                     <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
@@ -175,9 +175,9 @@
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
                     <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
               </body>
@@ -222,11 +222,11 @@
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -245,9 +245,9 @@
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
                       <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -262,9 +262,9 @@
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
                     <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
@@ -278,9 +278,9 @@
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
                     <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
@@ -294,9 +294,9 @@
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
                     <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
               </body>
@@ -307,14 +307,14 @@
     </body>
     <body name="right_object">
       <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
       <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
       <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
@@ -356,14 +356,14 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>

processed/oakink/xhand/bimanual/unplug/scene_eq.xml

@@ -9,7 +9,7 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
@@ -103,11 +103,11 @@
                       <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
                       <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -126,9 +126,9 @@
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
                       <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -143,9 +143,9 @@
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
                     <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
@@ -159,9 +159,9 @@
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
                     <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
@@ -175,9 +175,9 @@
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
                     <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
               </body>
@@ -222,11 +222,11 @@
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -245,9 +245,9 @@
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
                       <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -262,9 +262,9 @@
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
                     <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
@@ -278,9 +278,9 @@
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
                     <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
@@ -294,9 +294,9 @@
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
                     <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
               </body>
@@ -307,14 +307,14 @@
     </body>
     <body name="right_object">
       <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
       <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
       <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
@@ -356,14 +356,14 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>