jc-bao commited on Oct 17, 2025

Commit

72a1742

1 Parent(s): 5dfb56e

:zap: add dexmachina set

Browse files

This view is limited to 50 files because it contains too many changes. See raw diff

Files changed (50) hide show

processed/arctic/inspire_hand/bimanual/box-30-230/0/trajectory_dexmachina.mp4 +3 -0
processed/arctic/inspire_hand/bimanual/box-30-230/0/trajectory_dexmachina.npz +3 -0
processed/fair_fre/metahand/right/pickcup/0/trajectory_mjwp.npz +3 -0
processed/fair_fre/metahand/right/pickcup/0/visualization_mjwp.mp4 +3 -0
processed/fair_fre/metahand/right/pickcup/2/trajectory_mjwp.npz +3 -0
processed/fair_fre/metahand/right/pickcup/2/visualization_mjwp.mp4 +3 -0
processed/fair_fre/metahand/right/pickcup/{0/task_info.json → task_info.json} +0 -0
processed/fair_mon/allegro/right/cat/0/trajectory_ikrollout.npz +2 -2
processed/fair_mon/allegro/right/cat/0/trajectory_kinematic.npz +2 -2
processed/fair_mon/allegro/right/cat/0/trajectory_mjwp.npz +3 -0
processed/fair_mon/allegro/right/cat/0/visualization_mjwp.mp4 +3 -0
processed/fair_mon/allegro/right/cat/scene.xml +22 -0
processed/fair_mon/allegro/right/cat/scene_eq.xml +22 -0
processed/fair_mon/allegro/right/cat/task_info.json +6 -0
processed/fair_mon/allegro/right/coke/0/trajectory_ikrollout.npz +3 -0
processed/fair_mon/allegro/right/coke/0/trajectory_kinematic.npz +3 -0
processed/fair_mon/allegro/right/coke/0/trajectory_mjwp.npz +3 -0
processed/fair_mon/allegro/right/coke/0/visualization_ik.mp4 +3 -0
processed/fair_mon/allegro/right/coke/0/visualization_mjwp.mp4 +3 -0
processed/fair_mon/allegro/right/coke/scene.xml +465 -0
processed/fair_mon/allegro/right/coke/scene_eq.xml +476 -0
processed/fair_mon/allegro/right/coke/task_info.json +10 -0
processed/fair_mon/assets/objects/cat/cat.glb +3 -0
processed/fair_mon/assets/objects/cat/convex/0.obj +83 -83
processed/fair_mon/assets/objects/cat/convex/1.obj +77 -77
processed/fair_mon/assets/objects/cat/convex/2.obj +88 -88
processed/fair_mon/assets/objects/cat/convex/3.obj +85 -85
processed/fair_mon/assets/objects/cat/convex/4.obj +82 -82
processed/fair_mon/assets/objects/cat/convex/5.obj +77 -77
processed/fair_mon/assets/objects/cat/convex/6.obj +88 -88
processed/fair_mon/assets/objects/cat/convex/7.obj +84 -84
processed/fair_mon/assets/objects/cat/visual.obj +0 -0
processed/fair_mon/mano/right/cat/0/trajectory_keypoints.npz +2 -2
processed/fair_mon/mano/right/cat/0/trajectory_kinematic.npz +2 -2
processed/fair_mon/mano/right/cat/task_info.json +4 -0
processed/fair_mon/mano/right/coke/0/trajectory_keypoints.npz +3 -0
processed/fair_mon/mano/right/coke/task_info.json +5 -0
processed/fair_mon/metahand/right/cat/0/trajectory_ikrollout.npz +2 -2
processed/fair_mon/metahand/right/cat/0/trajectory_kinematic.npz +2 -2
processed/fair_mon/metahand/right/cat/0/trajectory_mjwp.npz +2 -2
processed/fair_mon/metahand/right/cat/0/visualization_ik.mp4 +2 -2
processed/fair_mon/metahand/right/cat/0/visualization_mjwp.mp4 +2 -2
processed/fair_mon/metahand/right/cat/scene.xml +20 -20
processed/fair_mon/metahand/right/cat/scene_eq.xml +20 -20
processed/fair_mon/metahand/right/cat/task_info.json +1 -1
processed/fair_mon/metahand/right/coke/0/trajectory_ikrollout.npz +2 -2
processed/fair_mon/metahand/right/coke/0/trajectory_kinematic.npz +2 -2
processed/fair_mon/metahand/right/coke/0/trajectory_mjwp.npz +2 -2
processed/fair_mon/metahand/right/coke/0/visualization_ik.mp4 +2 -2
processed/fair_mon/metahand/right/coke/0/visualization_mjwp.mp4 +2 -2

processed/arctic/inspire_hand/bimanual/box-30-230/0/trajectory_dexmachina.mp4 ADDED Viewed

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processed/fair_fre/metahand/right/pickcup/{0/task_info.json → task_info.json} RENAMED Viewed

File without changes

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processed/fair_mon/allegro/right/cat/0/visualization_mjwp.mp4 ADDED Viewed

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processed/fair_mon/allegro/right/cat/scene.xml CHANGED Viewed

@@ -142,6 +142,7 @@
     <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
     <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
     <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
     <mesh name="right_0" file="objects/cat/convex/0.obj"/>
     <mesh name="right_1" file="objects/cat/convex/1.obj"/>
     <mesh name="right_2" file="objects/cat/convex/2.obj"/>
@@ -150,6 +151,16 @@
     <mesh name="right_5" file="objects/cat/convex/5.obj"/>
     <mesh name="right_6" file="objects/cat/convex/6.obj"/>
     <mesh name="right_7" file="objects/cat/convex/7.obj"/>
     <mesh name="right_visual" file="objects/cat/visual.obj"/>
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@@ -271,6 +282,7 @@
     </body>
     <body name="right_object">
       <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
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@@ -279,6 +291,16 @@
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     <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
     <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
     <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
+<<<<<<< HEAD
     <mesh name="right_0" file="objects/cat/convex/0.obj"/>
     <mesh name="right_1" file="objects/cat/convex/1.obj"/>
     <mesh name="right_2" file="objects/cat/convex/2.obj"/>
     <mesh name="right_5" file="objects/cat/convex/5.obj"/>
     <mesh name="right_6" file="objects/cat/convex/6.obj"/>
     <mesh name="right_7" file="objects/cat/convex/7.obj"/>
+=======
+    <mesh name="right_0" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/0.obj"/>
+    <mesh name="right_1" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/1.obj"/>
+    <mesh name="right_2" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/2.obj"/>
+    <mesh name="right_3" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/3.obj"/>
+    <mesh name="right_4" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/4.obj"/>
+    <mesh name="right_5" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/5.obj"/>
+    <mesh name="right_6" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/6.obj"/>
+    <mesh name="right_7" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/7.obj"/>
+>>>>>>> 62480b5 (:zap: add dexmachina set)
     <mesh name="right_visual" file="objects/cat/visual.obj"/>
   </asset>
     </body>
     <body name="right_object">
       <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+<<<<<<< HEAD
       <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
       <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
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       <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+=======
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
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+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
+>>>>>>> 62480b5 (:zap: add dexmachina set)
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processed/fair_mon/allegro/right/cat/scene_eq.xml CHANGED Viewed

@@ -142,6 +142,7 @@
     <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
     <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
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     <mesh name="right_1" file="objects/cat/convex/1.obj"/>
     <mesh name="right_2" file="objects/cat/convex/2.obj"/>
@@ -150,6 +151,16 @@
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     <mesh name="right_7" file="objects/cat/convex/7.obj"/>
     <mesh name="right_visual" file="objects/cat/visual.obj"/>
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@@ -271,6 +282,7 @@
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@@ -279,6 +291,16 @@
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     <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
+<<<<<<< HEAD
     <mesh name="right_0" file="objects/cat/convex/0.obj"/>
     <mesh name="right_1" file="objects/cat/convex/1.obj"/>
     <mesh name="right_2" file="objects/cat/convex/2.obj"/>
     <mesh name="right_5" file="objects/cat/convex/5.obj"/>
     <mesh name="right_6" file="objects/cat/convex/6.obj"/>
     <mesh name="right_7" file="objects/cat/convex/7.obj"/>
+=======
+    <mesh name="right_0" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/0.obj"/>
+    <mesh name="right_1" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/1.obj"/>
+    <mesh name="right_2" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/2.obj"/>
+    <mesh name="right_3" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/3.obj"/>
+    <mesh name="right_4" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/4.obj"/>
+    <mesh name="right_5" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/5.obj"/>
+    <mesh name="right_6" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/6.obj"/>
+    <mesh name="right_7" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/7.obj"/>
+>>>>>>> 62480b5 (:zap: add dexmachina set)
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   </asset>
     </body>
     <body name="right_object">
       <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+<<<<<<< HEAD
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       <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+=======
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
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+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
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+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
+>>>>>>> 62480b5 (:zap: add dexmachina set)
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processed/fair_mon/allegro/right/cat/task_info.json CHANGED Viewed

@@ -4,7 +4,13 @@
   "robot_type": "allegro",
   "hand_type": "right",
   "data_id": 0,
   "right_object_mesh_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/cat",
   "left_object_mesh_dir": null,
   "right_object_convex_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex"
 }

   "robot_type": "allegro",
   "hand_type": "right",
   "data_id": 0,
+<<<<<<< HEAD
   "right_object_mesh_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/cat",
   "left_object_mesh_dir": null,
   "right_object_convex_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex"
+=======
+  "right_object_mesh_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat",
+  "left_object_mesh_dir": null,
+  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex"
+>>>>>>> 62480b5 (:zap: add dexmachina set)
 }

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+<mujoco model="allegro_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+  <option timestep="0.01" iterations="10">
+    <flag eulerdamp="disable"/>
+  </option>
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+  <default>
+    <default class="mimic_right">
+      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    </default>
+    <default class="allegro_right">
+      <joint armature="1"/>
+      <geom density="800"/>
+      <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+      <default class="right_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
+        <default class="right_palm_visual">
+          <geom mesh="right_base_link"/>
+        </default>
+        <default class="right_base_visual">
+          <geom mesh="right_link_0.0"/>
+        </default>
+        <default class="right_proximal_visual">
+          <geom mesh="right_link_1.0"/>
+        </default>
+        <default class="right_medial_visual">
+          <geom mesh="right_link_2.0"/>
+        </default>
+        <default class="right_distal_visual">
+          <geom mesh="right_link_3.0"/>
+        </default>
+        <default class="right_fingertip_visual">
+          <geom material="right_white" mesh="right_link_3.0_tip"/>
+        </default>
+        <default class="right_thumbtip_visual">
+          <geom material="right_white" mesh="right_link_15.0_tip"/>
+        </default>
+      </default>
+      <default class="right_collision">
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
+        <default class="right_palm_collision">
+          <geom size="0.0204 0.0565 0.0475"/>
+        </default>
+        <default class="right_base_collision">
+          <geom size="0.0098 0.01375 0.0082"/>
+          <default class="right_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275"/>
+          </default>
+        </default>
+        <default class="right_proximal_collision">
+          <geom size="0.0098 0.01375 0.027"/>
+          <default class="right_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885"/>
+          </default>
+        </default>
+        <default class="right_medial_collision">
+          <geom size="0.0098 0.01375 0.0192"/>
+          <default class="right_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257"/>
+          </default>
+        </default>
+        <default class="right_distal_collision">
+          <geom size="0.0098 0.01375 0.008"/>
+          <default class="right_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157"/>
+          </default>
+        </default>
+        <default class="right_fingertip_collision">
+          <geom size="0.012 0.01 0" type="capsule"/>
+          <default class="right_thumbtip_collision">
+            <geom size="0.012 0.008 0"/>
+          </default>
+        </default>
+      </default>
+      <default class="right_base_slide">
+        <joint type="slide" range="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="right_base_hinge">
+        <joint range="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="right_base">
+        <joint range="-0.47 0.47"/>
+        <general ctrlrange="-0.47 0.47"/>
+      </default>
+      <default class="right_proximal">
+        <joint range="0.196 1.61"/>
+        <general ctrlrange="0.196 1.61"/>
+      </default>
+      <default class="right_medial">
+        <joint range="0.174 1.709"/>
+        <general ctrlrange="0.174 1.709"/>
+      </default>
+      <default class="right_distal">
+        <joint range="0.227 1.618"/>
+        <general ctrlrange="0.227 1.618"/>
+      </default>
+      <default class="right_thumb_base">
+        <joint range="0.263 1.396"/>
+        <general ctrlrange="0.263 1.396"/>
+      </default>
+      <default class="right_thumb_proximal">
+        <joint range="0.105 1.163"/>
+        <general ctrlrange="0.105 1.163"/>
+      </default>
+      <default class="right_thumb_medial">
+        <joint range="0.189 1.644"/>
+        <general ctrlrange="0.189 1.644"/>
+      </default>
+      <default class="right_thumb_distal">
+        <joint range="0.162 1.719"/>
+        <general ctrlrange="0.162 1.719"/>
+      </default>
+    </default>
+  </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="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="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="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="1800"/>
+    <material name="right_black" rgba="0.2 0.2 0.2 1"/>
+    <material name="right_white" rgba="0.9 0.9 0.9 1"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_base_link" file="robots/allegro/assets/base_link.stl"/>
+    <mesh name="right_link_0.0" file="robots/allegro/assets/link_0.0.stl"/>
+    <mesh name="right_link_1.0" file="robots/allegro/assets/link_1.0.stl"/>
+    <mesh name="right_link_2.0" file="robots/allegro/assets/link_2.0.stl"/>
+    <mesh name="right_link_3.0" file="robots/allegro/assets/link_3.0.stl"/>
+    <mesh name="right_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl"/>
+    <mesh name="right_link_12.0_right" file="robots/allegro/assets/link_12.0_right.stl"/>
+    <mesh name="right_link_13.0" file="robots/allegro/assets/link_13.0.stl"/>
+    <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
+    <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
+    <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
+    <mesh name="right_0" file="objects/cat/convex/0.obj"/>
+    <mesh name="right_1" file="objects/cat/convex/1.obj"/>
+    <mesh name="right_2" file="objects/cat/convex/2.obj"/>
+    <mesh name="right_3" file="objects/cat/convex/3.obj"/>
+    <mesh name="right_4" file="objects/cat/convex/4.obj"/>
+    <mesh name="right_5" file="objects/cat/convex/5.obj"/>
+    <mesh name="right_6" file="objects/cat/convex/6.obj"/>
+    <mesh name="right_7" file="objects/cat/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/cat/visual.obj"/>
+  </asset>
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_palm" childclass="allegro_right" quat="0 0 0.707107 -0.707107" gravcomp="1">
+      <joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
+      <joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
+      <joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
+      <joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
+      <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
+      <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
+      <geom class="right_palm_visual" mesh="right_base_link"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_ff_proximal" pos="0 0 0.0164">
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_ff_medial" pos="0 0 0.054">
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_ff_distal" pos="0 0 0.0384">
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_ff_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_mf_base" pos="0 0 0.0007">
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_mf_proximal" pos="0 0 0.0164">
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_mf_medial" pos="0 0 0.054">
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_mf_distal" pos="0 0 0.0384">
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_mf_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_rf_proximal" pos="0 0 0.0164">
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_rf_medial" pos="0 0 0.054">
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_rf_distal" pos="0 0 0.0384">
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_rf_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <geom class="right_visual" mesh="right_link_12.0_right"/>
+        <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <geom class="right_visual" mesh="right_link_13.0"/>
+          <body name="right_th_medial" pos="0 0 0.0177">
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_visual" mesh="right_link_14.0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <body name="right_th_distal" pos="0 0 0.0514">
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_visual" mesh="right_link_15.0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <body name="right_th_tip">
+                <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
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+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
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+      <site name="track_object_right_ring_tip" pos="0.0261251 -0.0192511 0.00822949" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+  </contact>
+  <actuator>
+    <general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
+    <general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
+    <general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
+    <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
+    <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
+    <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
+  </actuator>
+</mujoco>

processed/fair_mon/allegro/right/coke/scene_eq.xml ADDED Viewed

	@@ -0,0 +1,476 @@

+<mujoco model="allegro_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+  <option timestep="0.01" iterations="10">
+    <flag eulerdamp="disable"/>
+  </option>
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+  <default>
+    <default class="mimic_right">
+      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    </default>
+    <default class="allegro_right">
+      <joint armature="1"/>
+      <geom density="800"/>
+      <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+      <default class="right_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
+        <default class="right_palm_visual">
+          <geom mesh="right_base_link"/>
+        </default>
+        <default class="right_base_visual">
+          <geom mesh="right_link_0.0"/>
+        </default>
+        <default class="right_proximal_visual">
+          <geom mesh="right_link_1.0"/>
+        </default>
+        <default class="right_medial_visual">
+          <geom mesh="right_link_2.0"/>
+        </default>
+        <default class="right_distal_visual">
+          <geom mesh="right_link_3.0"/>
+        </default>
+        <default class="right_fingertip_visual">
+          <geom material="right_white" mesh="right_link_3.0_tip"/>
+        </default>
+        <default class="right_thumbtip_visual">
+          <geom material="right_white" mesh="right_link_15.0_tip"/>
+        </default>
+      </default>
+      <default class="right_collision">
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
+        <default class="right_palm_collision">
+          <geom size="0.0204 0.0565 0.0475"/>
+        </default>
+        <default class="right_base_collision">
+          <geom size="0.0098 0.01375 0.0082"/>
+          <default class="right_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275"/>
+          </default>
+        </default>
+        <default class="right_proximal_collision">
+          <geom size="0.0098 0.01375 0.027"/>
+          <default class="right_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885"/>
+          </default>
+        </default>
+        <default class="right_medial_collision">
+          <geom size="0.0098 0.01375 0.0192"/>
+          <default class="right_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257"/>
+          </default>
+        </default>
+        <default class="right_distal_collision">
+          <geom size="0.0098 0.01375 0.008"/>
+          <default class="right_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157"/>
+          </default>
+        </default>
+        <default class="right_fingertip_collision">
+          <geom size="0.012 0.01 0" type="capsule"/>
+          <default class="right_thumbtip_collision">
+            <geom size="0.012 0.008 0"/>
+          </default>
+        </default>
+      </default>
+      <default class="right_base_slide">
+        <joint type="slide" range="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="right_base_hinge">
+        <joint range="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="right_base">
+        <joint range="-0.47 0.47"/>
+        <general ctrlrange="-0.47 0.47"/>
+      </default>
+      <default class="right_proximal">
+        <joint range="0.196 1.61"/>
+        <general ctrlrange="0.196 1.61"/>
+      </default>
+      <default class="right_medial">
+        <joint range="0.174 1.709"/>
+        <general ctrlrange="0.174 1.709"/>
+      </default>
+      <default class="right_distal">
+        <joint range="0.227 1.618"/>
+        <general ctrlrange="0.227 1.618"/>
+      </default>
+      <default class="right_thumb_base">
+        <joint range="0.263 1.396"/>
+        <general ctrlrange="0.263 1.396"/>
+      </default>
+      <default class="right_thumb_proximal">
+        <joint range="0.105 1.163"/>
+        <general ctrlrange="0.105 1.163"/>
+      </default>
+      <default class="right_thumb_medial">
+        <joint range="0.189 1.644"/>
+        <general ctrlrange="0.189 1.644"/>
+      </default>
+      <default class="right_thumb_distal">
+        <joint range="0.162 1.719"/>
+        <general ctrlrange="0.162 1.719"/>
+      </default>
+    </default>
+  </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="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="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="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="1800"/>
+    <material name="right_black" rgba="0.2 0.2 0.2 1"/>
+    <material name="right_white" rgba="0.9 0.9 0.9 1"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_base_link" file="robots/allegro/assets/base_link.stl"/>
+    <mesh name="right_link_0.0" file="robots/allegro/assets/link_0.0.stl"/>
+    <mesh name="right_link_1.0" file="robots/allegro/assets/link_1.0.stl"/>
+    <mesh name="right_link_2.0" file="robots/allegro/assets/link_2.0.stl"/>
+    <mesh name="right_link_3.0" file="robots/allegro/assets/link_3.0.stl"/>
+    <mesh name="right_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl"/>
+    <mesh name="right_link_12.0_right" file="robots/allegro/assets/link_12.0_right.stl"/>
+    <mesh name="right_link_13.0" file="robots/allegro/assets/link_13.0.stl"/>
+    <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
+    <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
+    <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
+    <mesh name="right_0" file="objects/cat/convex/0.obj"/>
+    <mesh name="right_1" file="objects/cat/convex/1.obj"/>
+    <mesh name="right_2" file="objects/cat/convex/2.obj"/>
+    <mesh name="right_3" file="objects/cat/convex/3.obj"/>
+    <mesh name="right_4" file="objects/cat/convex/4.obj"/>
+    <mesh name="right_5" file="objects/cat/convex/5.obj"/>
+    <mesh name="right_6" file="objects/cat/convex/6.obj"/>
+    <mesh name="right_7" file="objects/cat/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/cat/visual.obj"/>
+  </asset>
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_palm" childclass="allegro_right" quat="0 0 0.707107 -0.707107" gravcomp="1">
+      <joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
+      <joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
+      <joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
+      <joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
+      <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
+      <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
+      <geom class="right_palm_visual" mesh="right_base_link"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_ff_proximal" pos="0 0 0.0164">
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_ff_medial" pos="0 0 0.054">
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_ff_distal" pos="0 0 0.0384">
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_ff_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_mf_base" pos="0 0 0.0007">
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_mf_proximal" pos="0 0 0.0164">
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_mf_medial" pos="0 0 0.054">
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_mf_distal" pos="0 0 0.0384">
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_mf_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_rf_proximal" pos="0 0 0.0164">
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_rf_medial" pos="0 0 0.054">
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_rf_distal" pos="0 0 0.0384">
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_rf_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <geom class="right_visual" mesh="right_link_12.0_right"/>
+        <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <geom class="right_visual" mesh="right_link_13.0"/>
+          <body name="right_th_medial" pos="0 0 0.0177">
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_visual" mesh="right_link_14.0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <body name="right_th_distal" pos="0 0 0.0514">
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_visual" mesh="right_link_15.0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <body name="right_th_tip">
+                <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </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" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0244631 -0.00102834 0.0281614" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0300984 0.0159805 0.0414208" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0368511 -0.00150362 0.0209455" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0261251 -0.0192511 0.00822949" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+  </contact>
+  <equality>
+    <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+  </equality>
+  <actuator>
+    <general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
+    <general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
+    <general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
+    <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
+    <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
+    <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
+  </actuator>
+</mujoco>

processed/fair_mon/allegro/right/coke/task_info.json ADDED Viewed

	@@ -0,0 +1,10 @@

+{
+  "task": "coke",
+  "dataset_name": "fair_mon",
+  "robot_type": "allegro",
+  "hand_type": "right",
+  "data_id": 0,
+  "right_object_mesh_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat",
+  "right_object_convex_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat/convex",
+  "left_object_mesh_dir": null
+}

processed/fair_mon/assets/objects/cat/cat.glb ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:e5e889cea23307b56fc0a4539972a6c871acdbb32309d225ac8feef588db45fc
+size 1675944

processed/fair_mon/assets/objects/cat/convex/0.obj CHANGED Viewed

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v 0.06688829 -0.00201537 -0.03128082
-v 0.06124238 -0.00941293 -0.02562265
-v 0.05567050 -0.01760961 -0.02893599
-v 0.04809942 -0.02528877 -0.03786927
-v 0.04363822 -0.02928436 -0.04281379
-v 0.04118549 -0.02837108 -0.05039626
-v 0.04882135 -0.01619403 -0.05077857
-v 0.05135739 -0.00630778 -0.05509865
-v 0.05770673 0.00098323 -0.05026882
-v 0.06499090 0.00492555 -0.04053269
-v 0.06668466 0.00764255 -0.03212190
-v 0.03342929 -0.00908568 0.05004900
-v 0.03179105 -0.02377425 0.04696504
-v 0.03310535 -0.02820365 0.03075515
-v -0.00616617 -0.06997856 0.04226265
-v 0.02954194 -0.03078366 -0.05695923
-v 0.03611341 -0.02338610 -0.05927856
-v -0.02766693 -0.04471878 0.01850853
-v 0.04431388 0.00775671 0.00027240
-v 0.05861378 0.00777194 -0.03241500
-v 0.05322702 0.00775671 -0.00587003
-v 0.01278004 -0.00592725 0.07091032
-v 0.01880544 -0.01066869 0.06930462
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 # https://github.com/mikedh/trimesh
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processed/fair_mon/assets/objects/cat/convex/1.obj CHANGED Viewed

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
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 # https://github.com/mikedh/trimesh
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processed/fair_mon/assets/objects/cat/convex/2.obj CHANGED Viewed

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
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 # https://github.com/mikedh/trimesh
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processed/fair_mon/assets/objects/cat/convex/3.obj CHANGED Viewed

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
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 # https://github.com/mikedh/trimesh
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processed/fair_mon/assets/objects/cat/convex/4.obj CHANGED Viewed

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
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 # https://github.com/mikedh/trimesh
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processed/fair_mon/assets/objects/cat/convex/5.obj CHANGED Viewed

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
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 # https://github.com/mikedh/trimesh
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processed/fair_mon/assets/objects/cat/convex/6.obj CHANGED Viewed

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
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 # https://github.com/mikedh/trimesh
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processed/fair_mon/assets/objects/cat/convex/7.obj CHANGED Viewed

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
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+=======
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