diff --git a/.gitignore b/.gitignore
index 9a79114320dd7f6d1e208e504620db5326e45d44..4d41054e49d55b0a6bcc42f0cde5b4eeacfca5b6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,6 @@
sharpa/
!processed/oakink/assets/robots/sharpa/
+!processed/oakinkv2/sharpa/
xhand_pro/
processed/gigahand/assets/robots/xhand/MJMODEL.TXT
*/assets/robots/xhand/MJMODEL.TXT
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/config.yaml b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bda76758959a0aba5cf374ac067a174c984bd375
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/config.yaml
@@ -0,0 +1,123 @@
+robot_type: sharpa
+embodiment_type: right
+task: pick_spoon_bowl
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakinkv2
+data_id: 0
+model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/../scene.xml
+data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 392
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.5
+max_revert_forward_attempts: 1
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 12
+- 1
+- 3
+- 5
+- 7
+- 9
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 7
+nq: 35
+nv: 34
+nu: 28
+npair: 257
+beta_traj: 0.31622776601683794
+output_dir: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_ikrollout.npz b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7a8c59c84c126d863d3ce660e1361d90a557a029
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d436278f6e95f18f34328c785f212b0515f7b47f3febbfbe39722c45e6ef6c4f
+size 55142
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_kinematic.npz b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e935c9fac471534125e8b8a9658ed238fc77cc1d
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44c5b93bd575de36e063d534e85cf3873b2249a94b75beb522f3e3b534c82af4
+size 108952
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_mjwp_fast.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c798355673fb43a84ce7c065213692ff7649885d
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_mjwp_fast.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac83ac51f13f8641c52e624f3256a56f936d8c2a1e872e7c88450e513cd16465
+size 609707
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_ik.mp4 b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fceab4690b0a316b4cf543ebbf21c32dc96f2fbb
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c294409373b544b521d63ffa0dcc5ea4511ff3f8189e7ee8dff53b5368e718ca
+size 161361
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_ik.viser b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_ik.viser
new file mode 100644
index 0000000000000000000000000000000000000000..3834c37be6760ffe24ba25d3d338372bf035afe7
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_ik.viser
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50619e89be0f9591956fb29b1c8f449cf359ca7b5c7f8eab5bb8d9dc94963999
+size 1607839
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_mjwp_fast.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32a37978ec12ba42b1403879a0a09fc601983dd7
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_mjwp_fast.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e172ad8fd2f9b38f8eec9ea57ef10f15cde8d6748fdea3792a533c36076f6aef
+size 336727
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_mjwp_fast.viser b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_mjwp_fast.viser
new file mode 100644
index 0000000000000000000000000000000000000000..d7f265372fbe961e1d7508c32acc50f78af6095b
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_mjwp_fast.viser
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1f778cff36339d64cc073433c7c150bd0d99565a77b4db967037ee39f99ab9a
+size 1607116
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene.xml b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bd21cff36a4693750a1e7a8b688fde5c903ae0b2
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene.xml
@@ -0,0 +1,620 @@
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diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene_eq.xml b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f726f18a208f35a84a336b2031e9bd3d12136e27
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene_eq.xml
@@ -0,0 +1,628 @@
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diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/task_info.json b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..96a2bd51e8b421a7d9827a64320edae8685b8d3f
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/task_info.json
@@ -0,0 +1,31 @@
+{
+ "task": "pick_spoon_bowl",
+ "dataset_name": "oakinkv2",
+ "robot_type": "sharpa",
+ "embodiment_type": "right",
+ "data_id": 0,
+ "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0030_00002",
+ "left_object_mesh_dir": null,
+ "ref_dt": 0.02,
+ "pre_grasp_seconds": 1.5,
+ "post_grasp_seconds": 2.5,
+ "n_frames": 200,
+ "oakink_seq_key": "scene_01__A001/seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19",
+ "oakink_seq_token": "scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19",
+ "oakink_obj_id": "O02@0030@00002",
+ "oakink_primitive": "scoop",
+ "oakink_grasp_range": [
+ 1111,
+ 4598
+ ],
+ "oakink_window": [
+ 931,
+ 1411
+ ],
+ "obj_first_frame_lowest_world_z": 0.007055115031203735,
+ "scene_lowest_world_z": 0.006876816536960102,
+ "object_descends_from_frame0": false,
+ "right_plate_top_world_z": -0.04294488496879627,
+ "floor_well_below_offset": 0.05,
+ "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0030_00002/convex"
+}
\ No newline at end of file
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/config.yaml b/processed/oakinkv2/sharpa/right/pour_tube/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2df39ac48cf3c0a80e8c0d060128ec19db5cde7d
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/config.yaml
@@ -0,0 +1,123 @@
+robot_type: sharpa
+embodiment_type: right
+task: pour_tube
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakinkv2
+data_id: 0
+model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pour_tube/0/../scene.xml
+data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 392
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.5
+max_revert_forward_attempts: 1
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 12
+- 1
+- 3
+- 5
+- 7
+- 9
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 7
+nq: 35
+nv: 34
+nu: 28
+npair: 213
+beta_traj: 0.31622776601683794
+output_dir: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pour_tube/0
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_ikrollout.npz b/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ed5393219b796ec45b20a226870286e171c1931d
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23cf8820e51700bfd8471084f6c8ee60c05d3cc564a2e4a48ad0d45f6f673391
+size 55142
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_kinematic.npz b/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..90994517b2aeb449cd4ba9771b5bba3c044e7892
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b47e3f183f326962a7eb1b65469a71038e7a3cdcce90db247fcd1b14256613eb
+size 108952
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_mjwp_fast.npz
new file mode 100644
index 0000000000000000000000000000000000000000..152a7b76d526320645dbc10d28a8b8b3da34578b
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_mjwp_fast.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:228923c61f0a60ca28a5e42e43768ade5c5cdc8a07a0c888bac6d07bf9ae5a57
+size 620533
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_ik.mp4 b/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4c32304e1f7facb4fb9a5bfb6350a385d47df3af
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bce46f527e21104b0722a97f0329051eceed740f9b3b158b0961211c05d5bf56
+size 206249
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_ik.viser b/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_ik.viser
new file mode 100644
index 0000000000000000000000000000000000000000..fb0e5c6a05b7354e9132e7cb4dbefc93a3c9b133
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_ik.viser
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:353e2ad590b1166c1d7c4166eb80a50491d47dc9b035a852800405befd8557c2
+size 1576800
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_mjwp_fast.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92abcd042c6476bc2568d7e947f8c08fa414ee0c
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_mjwp_fast.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1dfc331cd0a2e0eb30cf4f723cf251fd872ab779475e0ffbe1da42f7f00fd2c
+size 421076
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_mjwp_fast.viser b/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_mjwp_fast.viser
new file mode 100644
index 0000000000000000000000000000000000000000..e2b8d1e4ab8b7cf7eb6d38419e31f73d0cb9e48d
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_mjwp_fast.viser
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1576079
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/scene.xml b/processed/oakinkv2/sharpa/right/pour_tube/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fbaa8987ab7ec3b762958dd0e26fe90679d90ef5
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pour_tube/scene.xml
@@ -0,0 +1,572 @@
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diff --git a/processed/oakinkv2/sharpa/right/pour_tube/scene_eq.xml b/processed/oakinkv2/sharpa/right/pour_tube/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5ffe9a0faf5c5fdc9ad3e7ee05a7c1f7f79a98a1
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pour_tube/scene_eq.xml
@@ -0,0 +1,580 @@
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diff --git a/processed/oakinkv2/sharpa/right/pour_tube/task_info.json b/processed/oakinkv2/sharpa/right/pour_tube/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..95423cc22da5ec68501ed20279f10855b4f781b6
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pour_tube/task_info.json
@@ -0,0 +1,31 @@
+{
+ "task": "pour_tube",
+ "dataset_name": "oakinkv2",
+ "robot_type": "sharpa",
+ "embodiment_type": "right",
+ "data_id": 0,
+ "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0011_00003",
+ "left_object_mesh_dir": null,
+ "ref_dt": 0.02,
+ "pre_grasp_seconds": 1.5,
+ "post_grasp_seconds": 2.5,
+ "n_frames": 200,
+ "oakink_seq_key": "scene_03__A004/seq__f2d09be48f383f8caf97__2023-04-22-18-52-52",
+ "oakink_seq_token": "scene_03__A004++seq__f2d09be48f383f8caf97__2023-04-22-18-52-52",
+ "oakink_obj_id": "O02@0011@00003",
+ "oakink_primitive": "hold",
+ "oakink_grasp_range": [
+ 1191,
+ 1931
+ ],
+ "oakink_window": [
+ 1011,
+ 1491
+ ],
+ "obj_first_frame_lowest_world_z": 0.17493900291149875,
+ "scene_lowest_world_z": 0.17455401396831044,
+ "object_descends_from_frame0": false,
+ "right_plate_top_world_z": 0.12493900291149874,
+ "floor_well_below_offset": 0.05,
+ "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0011_00003/convex"
+}
\ No newline at end of file
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/0/config.yaml b/processed/oakinkv2/sharpa/right/stir_beaker/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e21c583136538094fd58d82c3d22d0074329856f
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/0/config.yaml
@@ -0,0 +1,123 @@
+robot_type: sharpa
+embodiment_type: right
+task: stir_beaker
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakinkv2
+data_id: 0
+model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/stir_beaker/0/../scene.xml
+data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 392
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
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+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
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+max_num_iterations: 4
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+terminate_resample: false
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+max_revert_forward_attempts: 1
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+base_pos_threshold: 0.5
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+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
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+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
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+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 12
+- 1
+- 3
+- 5
+- 7
+- 9
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 7
+nq: 35
+nv: 34
+nu: 28
+npair: 213
+beta_traj: 0.31622776601683794
+output_dir: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/stir_beaker/0
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_ikrollout.npz b/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1f6b64058a24dd100e01cf543943fc940eb6d54b
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4578d0602455401c2ce1f6109d5a304e05ca9240a3e66ad2441770ae5c71d12f
+size 55142
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_kinematic.npz b/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0765f064a1763142f048a43e82b63b600b26d050
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07eef27e19e37c50ffc9ffc5df26070e29a49b9d381831d86062df1d1b01635a
+size 108952
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_ik.mp4 b/processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bcc11b16e720e1d8b96c837c406a1d86a7809ba
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:760b02f82e09a25d526f054bcf6907c9c25504eee0111a9011fa5cdd832ce624
+size 216864
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_ik.viser b/processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_ik.viser
new file mode 100644
index 0000000000000000000000000000000000000000..a2c36c1dfaae5d9f84ccc9921edd72b406d9466e
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_ik.viser
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd78a0359304ea232b7a5d765c171ddd25d3319cbdbfc51ee34eb1f545525a85
+size 1592570
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/scene.xml b/processed/oakinkv2/sharpa/right/stir_beaker/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cab299d015e3e86c330fcecfd92a9808006dc635
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/scene.xml
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diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/scene_eq.xml b/processed/oakinkv2/sharpa/right/stir_beaker/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5c82110beb9842c629d657d65945608f55f91bd7
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/scene_eq.xml
@@ -0,0 +1,580 @@
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diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/task_info.json b/processed/oakinkv2/sharpa/right/stir_beaker/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6807711bf9f2d846e9e27cc7c0af1ff5a8a7fc98
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/task_info.json
@@ -0,0 +1,31 @@
+{
+ "task": "stir_beaker",
+ "dataset_name": "oakinkv2",
+ "robot_type": "sharpa",
+ "embodiment_type": "right",
+ "data_id": 0,
+ "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0033_00001",
+ "left_object_mesh_dir": null,
+ "ref_dt": 0.02,
+ "pre_grasp_seconds": 1.5,
+ "post_grasp_seconds": 2.5,
+ "n_frames": 200,
+ "oakink_seq_key": "scene_01__A005/seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31",
+ "oakink_seq_token": "scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31",
+ "oakink_obj_id": "O02@0033@00001",
+ "oakink_primitive": "stir",
+ "oakink_grasp_range": [
+ 8047,
+ 9208
+ ],
+ "oakink_window": [
+ 7867,
+ 8347
+ ],
+ "obj_first_frame_lowest_world_z": 0.004580366042942055,
+ "scene_lowest_world_z": 0.003144324651462735,
+ "object_descends_from_frame0": false,
+ "right_plate_top_world_z": -0.04541963395705795,
+ "floor_well_below_offset": 0.05,
+ "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0033_00001/convex"
+}
\ No newline at end of file
diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/config.yaml b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ac9a96c4a8733fe1d7b2353e729aa9ec8fa0f36b
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/config.yaml
@@ -0,0 +1,123 @@
+robot_type: sharpa
+embodiment_type: right
+task: uncap_alcohol_burner
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakinkv2
+data_id: 0
+model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/../scene.xml
+data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 392
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.5
+max_revert_forward_attempts: 1
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 12
+- 1
+- 3
+- 5
+- 7
+- 9
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 7
+nq: 35
+nv: 34
+nu: 28
+npair: 125
+beta_traj: 0.31622776601683794
+output_dir: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0
diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_ikrollout.npz b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..04718c94dfe3f05880b3f67b88a83e2ce75271f6
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ee0b5379fa718c4efde0de3dc7b4dcda99eadcabc99759865a06a18b612d06
+size 55142
diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_kinematic.npz b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8e86c82fa2f737569d9697c2ad174be431d4abe2
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 108952
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diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_ik.mp4 b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_ik.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_ik.viser b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_ik.viser
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@@ -0,0 +1,3 @@
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diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_mjwp_fast.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c10921e044bf6340294bc3009f1fe1a0945cc193
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_mjwp_fast.viser b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_mjwp_fast.viser
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/scene.xml b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d7e4120ee46984ecf6ebed4fc1e3487e1b23243d
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diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/scene_eq.xml b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..69566ac835863cd91fb34b9c431c90946a8d691b
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/scene_eq.xml
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diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/task_info.json b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0efb71d794cdd48ca64b83ba6e31b16aba24f6b7
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/task_info.json
@@ -0,0 +1,31 @@
+{
+ "task": "uncap_alcohol_burner",
+ "dataset_name": "oakinkv2",
+ "robot_type": "sharpa",
+ "embodiment_type": "right",
+ "data_id": 0,
+ "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0206_00001",
+ "left_object_mesh_dir": null,
+ "ref_dt": 0.02,
+ "pre_grasp_seconds": 1.5,
+ "post_grasp_seconds": 2.5,
+ "n_frames": 200,
+ "oakink_seq_key": "scene_03__A007/seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31",
+ "oakink_seq_token": "scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31",
+ "oakink_obj_id": "O02@0206@00001",
+ "oakink_primitive": "uncap_alcohol_lamp",
+ "oakink_grasp_range": [
+ 9187,
+ 9423
+ ],
+ "oakink_window": [
+ 9007,
+ 9423
+ ],
+ "obj_first_frame_lowest_world_z": 0.07334136502724108,
+ "scene_lowest_world_z": -0.005303162150084927,
+ "object_descends_from_frame0": true,
+ "right_plate_top_world_z": 0.023341365027241073,
+ "floor_well_below_offset": 0.05,
+ "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0206_00001/convex"
+}
\ No newline at end of file
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/0/config.yaml b/processed/oakinkv2/sharpa/right/wipe_board/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8c3e7189e04030bd02fbb50cf6c1d06db9dd9833
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/wipe_board/0/config.yaml
@@ -0,0 +1,123 @@
+robot_type: sharpa
+embodiment_type: right
+task: wipe_board
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakinkv2
+data_id: 0
+model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/wipe_board/0/../scene.xml
+data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 392
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.5
+max_revert_forward_attempts: 1
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 12
+- 1
+- 3
+- 5
+- 7
+- 9
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 7
+nq: 35
+nv: 34
+nu: 28
+npair: 213
+beta_traj: 0.31622776601683794
+output_dir: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/wipe_board/0
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_ikrollout.npz b/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c60bc7bac8a9679edc23cb37e9b5675538f4f392
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 55142
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_kinematic.npz b/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aff301cc18980af7feef37057baacdfb85023a3f
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 108952
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_mjwp_fast.npz
new file mode 100644
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--- /dev/null
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diff --git a/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_ik.mp4 b/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eda2ba622544e6ea8d4695bb85367ddd4b60b306
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 213513
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_ik.viser b/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_ik.viser
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1562167
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_mjwp_fast.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee559a4b7a30fbf2bfbf55a8b5579acd24875001
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
index 0000000000000000000000000000000000000000..8ab138e55b17d63565c7e8a0510f9074105df162
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_mjwp_fast.viser
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39ea5caf72f61ff3916248eac1b05803516bfbfd5411e3c42e7bc7261ad4d26c
+size 1561444
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/scene.xml b/processed/oakinkv2/sharpa/right/wipe_board/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2599a495700af64a7effb83392fe33aa77f2e70b
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/wipe_board/scene.xml
@@ -0,0 +1,572 @@
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diff --git a/processed/oakinkv2/sharpa/right/wipe_board/scene_eq.xml b/processed/oakinkv2/sharpa/right/wipe_board/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acda3baef763044162217e8b21b610136c22ef81
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/wipe_board/scene_eq.xml
@@ -0,0 +1,580 @@
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diff --git a/processed/oakinkv2/sharpa/right/wipe_board/task_info.json b/processed/oakinkv2/sharpa/right/wipe_board/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..55d945276fee95f0900b0b80e4b4677896ad07a3
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/wipe_board/task_info.json
@@ -0,0 +1,31 @@
+{
+ "task": "wipe_board",
+ "dataset_name": "oakinkv2",
+ "robot_type": "sharpa",
+ "embodiment_type": "right",
+ "data_id": 0,
+ "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0055_00002",
+ "left_object_mesh_dir": null,
+ "ref_dt": 0.02,
+ "pre_grasp_seconds": 1.5,
+ "post_grasp_seconds": 2.5,
+ "n_frames": 200,
+ "oakink_seq_key": "scene_02__A007/seq__eb5f919d73a9ac759146__2023-04-20-14-20-06",
+ "oakink_seq_token": "scene_02__A007++seq__eb5f919d73a9ac759146__2023-04-20-14-20-06",
+ "oakink_obj_id": "O02@0055@00002",
+ "oakink_primitive": "brush_whiteboard",
+ "oakink_grasp_range": [
+ 867,
+ 2593
+ ],
+ "oakink_window": [
+ 687,
+ 1167
+ ],
+ "obj_first_frame_lowest_world_z": 0.0444893619151409,
+ "scene_lowest_world_z": 0.044203837933111854,
+ "object_descends_from_frame0": false,
+ "right_plate_top_world_z": -0.005510638084859104,
+ "floor_well_below_offset": 0.05,
+ "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0055_00002/convex"
+}
\ No newline at end of file