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diff --git a/processed/fair_mon/metahand/right/cat/scene_eq.xml b/processed/fair_mon/metahand/right/cat/scene_eq.xml
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diff --git a/processed/gigahand/allegro/bimanual/p36-tea/task_info.json b/processed/gigahand/allegro/bimanual/p36-tea/task_info.json
index 53da559bd40ee5406ada0ce003cf060f86a8db3b..010e5ec2173ff3204ee6b13c2b78ce2800dfca23 100644
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"data_id": 10,
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# https://github.com/mikedh/trimesh
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f 1 2 3
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f 1 4 5
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/1.obj b/processed/gigahand/assets/objects/p36-tea/convex/1.obj
index 4131fbe6c6051fca4a16f91ee8774fe9b8142a7e..d087f70db19d09044c4a58c20017c78dd9c7003e 100644
--- a/processed/gigahand/assets/objects/p36-tea/convex/1.obj
+++ b/processed/gigahand/assets/objects/p36-tea/convex/1.obj
@@ -1,36 +1,36 @@
# https://github.com/mikedh/trimesh
-v 0.50646703 0.44786739 0.35264033
-v 0.56551602 0.33201298 0.35264537
-v 0.57367041 0.40999994 0.35264537
-v 0.54011559 0.44317350 0.34790256
-v 0.51685528 0.44323675 0.33437901
-v 0.49109555 0.44292046 0.33481201
-v 0.46860069 0.44371754 0.34688049
-v 0.43973230 0.41584517 0.34563689
-v 0.42778191 0.36759042 0.34802340
-v 0.46510149 0.32320718 0.34994167
-v 0.53399198 0.31861450 0.34732356
-v 0.54144340 0.32995070 0.33104092
-v 0.58737040 0.35334425 0.33140343
-v 0.58408990 0.38830175 0.35264537
-v 0.56781237 0.43427914 0.34257571
-v 0.51365289 0.41517461 0.31160649
-v 0.46828826 0.40749484 0.31620832
-v 0.44899580 0.40848170 0.32917804
-v 0.43099992 0.39188227 0.34296340
-v 0.43779524 0.36918457 0.33166021
-v 0.44084142 0.33933849 0.34627128
-v 0.47709875 0.32671178 0.33269738
-v 0.51651161 0.33985722 0.31260339
-v 0.51751138 0.36659091 0.30312784
-v 0.52766531 0.39607008 0.30613867
-v 0.49589133 0.39852457 0.30480947
-v 0.47264664 0.36760307 0.30787568
-v 0.45068292 0.37928087 0.31993913
-v 0.45327608 0.34673991 0.32588526
-v 0.47739556 0.34073021 0.31618818
-v 0.49914058 0.35297735 0.30529281
-v 0.49609440 0.37643417 0.30121460
+v -0.00115084 0.04845658 -0.03340255
+v 0.05789815 -0.06739784 -0.03339752
+v 0.06605254 0.01058913 -0.03339752
+v 0.03249771 0.04376268 -0.03814032
+v 0.00923741 0.04382594 -0.05166387
+v -0.01652232 0.04350964 -0.05123088
+v -0.03901718 0.04430672 -0.03916240
+v -0.06788557 0.01643435 -0.04040600
+v -0.07983597 -0.03182040 -0.03801949
+v -0.04251638 -0.07620363 -0.03610122
+v 0.02637411 -0.08079631 -0.03871933
+v 0.03382553 -0.06946011 -0.05500196
+v 0.07975253 -0.04606656 -0.05463946
+v 0.07647203 -0.01110906 -0.03339752
+v 0.06019450 0.03486833 -0.04346717
+v 0.00603502 0.01576380 -0.07443640
+v -0.03932961 0.00808403 -0.06983456
+v -0.05862207 0.00907089 -0.05686485
+v -0.07661795 -0.00752855 -0.04307949
+v -0.06982263 -0.03022624 -0.05438268
+v -0.06677645 -0.06007233 -0.03977161
+v -0.03051912 -0.07269903 -0.05334551
+v 0.00889374 -0.05955359 -0.07343950
+v 0.00989351 -0.03281991 -0.08291505
+v 0.02004744 -0.00334073 -0.07990422
+v -0.01172655 -0.00088624 -0.08123342
+v -0.03497123 -0.03180774 -0.07816721
+v -0.05693495 -0.02012994 -0.06610376
+v -0.05434180 -0.05267090 -0.06015763
+v -0.03022231 -0.05868061 -0.06985471
+v -0.00847729 -0.04643346 -0.08075007
+v -0.01152347 -0.02297665 -0.08482829
f 1 2 3
f 1 3 4
f 1 4 5
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/2.obj b/processed/gigahand/assets/objects/p36-tea/convex/2.obj
index 194fff6ad6c0ea5b842e0adc88ad3e6794bd1754..53d64943f60b966f39a238bd18cdefc48dd1eff5 100644
--- a/processed/gigahand/assets/objects/p36-tea/convex/2.obj
+++ b/processed/gigahand/assets/objects/p36-tea/convex/2.obj
@@ -1,36 +1,36 @@
# https://github.com/mikedh/trimesh
-v 0.41678451 0.40001980 0.42304345
-v 0.41927471 0.39598212 0.37664396
-v 0.41464489 0.38630026 0.42304345
-v 0.41877002 0.37064221 0.42304345
-v 0.44376561 0.33278229 0.41972086
-v 0.44278948 0.42771591 0.41569120
-v 0.44209440 0.43160365 0.39897530
-v 0.43244189 0.42411735 0.38968030
-v 0.42293444 0.40920900 0.37634191
-v 0.42428530 0.39559656 0.35683889
-v 0.41843155 0.38431891 0.37432365
-v 0.41822604 0.37116700 0.37538770
-v 0.42027199 0.35556250 0.39084046
-v 0.42634939 0.34445621 0.40188600
-v 0.43200671 0.34344947 0.41820373
-v 0.43544583 0.33574896 0.40976684
-v 0.44460876 0.32777000 0.40737787
-v 0.44551539 0.43400270 0.37433737
-v 0.43213666 0.42273576 0.37791396
-v 0.43032643 0.41393212 0.36058709
-v 0.44002730 0.42471711 0.36031250
-v 0.42682687 0.35637646 0.35292593
-v 0.42230283 0.37916739 0.35760775
-v 0.42249926 0.36671163 0.35928277
-v 0.42264432 0.35178186 0.37365776
-v 0.42505594 0.34405994 0.38935765
-v 0.43271690 0.33473151 0.39196630
-v 0.44551539 0.32458912 0.39057273
-v 0.44551539 0.32509249 0.37680872
-v 0.43993966 0.33263235 0.36016147
-v 0.42959207 0.34468112 0.35878850
-v 0.43133883 0.33588819 0.38028233
+v -0.09083336 0.00060899 0.03700056
+v -0.08834316 -0.00342869 -0.00939893
+v -0.09297298 -0.01311055 0.03700056
+v -0.08884785 -0.02876860 0.03700056
+v -0.06385226 -0.06662853 0.03367798
+v -0.06482839 0.02830510 0.02964831
+v -0.06552347 0.03219284 0.01293241
+v -0.07517598 0.02470653 0.00363741
+v -0.08468343 0.00979819 -0.00970098
+v -0.08333257 -0.00381425 -0.02920400
+v -0.08918632 -0.01509191 -0.01171924
+v -0.08939183 -0.02824381 -0.01065519
+v -0.08734588 -0.04384831 0.00479757
+v -0.08126848 -0.05495461 0.01584311
+v -0.07561116 -0.05596135 0.03216084
+v -0.07217204 -0.06366185 0.02372395
+v -0.06300911 -0.07164081 0.02133498
+v -0.06210248 0.03459188 -0.01170551
+v -0.07548121 0.02332494 -0.00812893
+v -0.07729144 0.01452130 -0.02545580
+v -0.06759057 0.02530630 -0.02573039
+v -0.08079100 -0.04303435 -0.03311696
+v -0.08531504 -0.02024343 -0.02843514
+v -0.08511861 -0.03269918 -0.02676012
+v -0.08497355 -0.04762895 -0.01238513
+v -0.08256193 -0.05535088 0.00331477
+v -0.07490097 -0.06467930 0.00592341
+v -0.06210248 -0.07482169 0.00452984
+v -0.06210248 -0.07431833 -0.00923417
+v -0.06767821 -0.06677847 -0.02588142
+v -0.07802580 -0.05472969 -0.02725439
+v -0.07627904 -0.06352263 -0.00576056
f 1 2 3
f 1 3 4
f 1 4 5
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/3.obj b/processed/gigahand/assets/objects/p36-tea/convex/3.obj
index e9f4c99421e9154a9c1ce7249792e9f903e1bbbe..0d5274f5d03fc2c9cb7cf7795a2bb8b5262347dc 100644
--- a/processed/gigahand/assets/objects/p36-tea/convex/3.obj
+++ b/processed/gigahand/assets/objects/p36-tea/convex/3.obj
@@ -1,94 +1,94 @@
# https://github.com/mikedh/trimesh
-v 0.58759199 0.35600092 0.34675155
-v 0.58759199 0.36018275 0.34004625
-v 0.58759199 0.36085642 0.32173529
-v 0.58904713 0.34730041 0.32592917
-v 0.58917224 0.34509510 0.33328377
-v 0.58954426 0.34737032 0.34478733
-v 0.59759697 0.35157758 0.34048320
-v 0.61804149 0.41001524 0.32457341
-v 0.61110813 0.41001524 0.32337282
-v 0.60622910 0.41001524 0.31817437
-v 0.58759199 0.36217198 0.33073967
-v 0.60425049 0.41001524 0.30963552
-v 0.58959364 0.35201610 0.32040811
-v 0.60946204 0.40784805 0.30503737
-v 0.60045459 0.36531789 0.31184068
-v 0.59649737 0.35622971 0.31726781
-v 0.59841343 0.35070689 0.32652130
-v 0.59613852 0.34799315 0.33342261
-v 0.60275913 0.35589288 0.33666909
-v 0.61457810 0.37231516 0.32851002
-v 0.62043163 0.40048853 0.32248259
-v 0.62122505 0.40738411 0.31752916
-v 0.61731062 0.40619566 0.31104029
-v 0.60815175 0.38540087 0.30736095
-v 0.60654186 0.37108222 0.31132614
-v 0.60744392 0.36201945 0.31831322
-v 0.60435913 0.35556875 0.32529621
-v 0.61092377 0.36402140 0.32807307
-v 0.61327440 0.36942347 0.32098391
-v 0.61727112 0.37934420 0.32423447
-v 0.61507852 0.38495600 0.31311068
-v 0.61311637 0.37635718 0.31425819
-f 1 2 11
-f 1 11 3
+v 0.10173759 0.01085075 -0.08091925
+v 0.09931622 0.02481840 -0.07887685
+v 0.10429178 0.01735212 -0.07884429
+v 0.10924690 0.01210244 -0.07526195
+v 0.11239366 0.01262876 -0.06433350
+v 0.07193024 0.01060784 -0.03339050
+v 0.06020653 0.01060784 -0.05247458
+v 0.06034446 0.03309102 -0.05767129
+v 0.06634679 0.03785824 -0.06134202
+v 0.08660660 0.03864097 -0.07140047
+v 0.09898928 0.03328670 -0.07356383
+v 0.10859303 0.02202824 -0.07236817
+v 0.11165805 0.02195739 -0.06513836
+v 0.10952275 0.02194052 -0.05980208
+v 0.07111290 0.02691692 -0.03339050
+v 0.06020653 0.01060784 -0.03339050
+v 0.06101876 0.03638050 -0.04283949
+v 0.06318982 0.03873543 -0.05377725
+v 0.07547545 0.04209239 -0.06344955
+v 0.08721960 0.04384003 -0.06241207
+v 0.09795229 0.03916729 -0.06671552
+v 0.10717801 0.03073947 -0.06483596
+v 0.08974824 0.03829684 -0.04724530
+v 0.10055756 0.03774691 -0.05772246
+v 0.06522806 0.03241963 -0.03374408
+v 0.08162083 0.03893449 -0.04299767
+v 0.07504635 0.03556067 -0.03844299
+v 0.07404510 0.04247364 -0.04707781
+v 0.07331461 0.04381980 -0.05395404
+v 0.08151355 0.04507486 -0.05632675
+v 0.09508139 0.04289874 -0.05851337
+v 0.08651464 0.04139064 -0.04840840
+f 1 2 3
f 1 3 4
f 1 4 5
f 1 5 6
f 1 6 7
f 1 7 8
f 1 8 9
-f 1 9 10
-f 1 10 2
-f 2 10 12
-f 2 12 11
-f 3 13 4
-f 3 11 12
-f 3 12 14
-f 3 14 15
-f 3 15 13
-f 4 13 16
-f 4 16 17
-f 4 17 5
-f 5 17 18
-f 5 18 6
-f 6 18 7
-f 7 18 19
-f 7 19 20
-f 7 20 8
-f 8 20 21
-f 8 21 22
-f 8 22 14
-f 8 14 12
-f 8 12 10
-f 8 10 9
-f 13 15 16
-f 14 22 23
-f 14 23 24
-f 14 24 15
-f 15 24 25
-f 15 25 26
-f 15 26 16
-f 16 26 17
-f 17 27 18
-f 17 26 27
-f 18 27 19
-f 19 27 28
-f 19 28 20
-f 20 29 30
-f 20 30 21
-f 20 28 29
-f 21 30 22
-f 22 30 31
-f 22 31 23
-f 23 31 24
-f 24 31 32
-f 24 32 25
-f 25 32 26
-f 26 32 29
-f 26 29 27
-f 27 29 28
-f 29 32 30
+f 1 9 2
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 2 9 10
+f 3 12 4
+f 4 13 5
+f 4 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 16
+f 6 16 7
+f 6 14 15
+f 7 16 8
+f 8 17 18
+f 8 18 9
+f 8 16 17
+f 9 18 19
+f 9 19 10
+f 10 20 21
+f 10 21 11
+f 10 19 20
+f 11 21 22
+f 11 22 12
+f 12 22 13
+f 13 22 14
+f 14 23 15
+f 14 22 24
+f 14 24 23
+f 15 25 16
+f 15 23 26
+f 15 26 27
+f 15 27 25
+f 16 25 17
+f 17 25 28
+f 17 28 29
+f 17 29 18
+f 18 29 19
+f 19 29 30
+f 19 30 20
+f 20 31 21
+f 20 30 31
+f 21 31 22
+f 22 31 24
+f 23 24 31
+f 23 31 32
+f 23 32 26
+f 25 27 26
+f 25 26 28
+f 26 32 28
+f 28 32 30
+f 28 30 29
f 30 32 31
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/4.obj b/processed/gigahand/assets/objects/p36-tea/convex/4.obj
index ca79a407dd90a9f0743b46d8ea6459d5c2b41e89..994329dd3919d0a75e0b88932bf4d23bfa2836dd 100644
--- a/processed/gigahand/assets/objects/p36-tea/convex/4.obj
+++ b/processed/gigahand/assets/objects/p36-tea/convex/4.obj
@@ -1,94 +1,94 @@
# https://github.com/mikedh/trimesh
-v 0.60969772 0.41198227 0.30521849
-v 0.60531985 0.42663177 0.30773057
-v 0.61044865 0.41892240 0.30688547
-v 0.61676771 0.41151329 0.31069306
-v 0.56782440 0.41001865 0.33356646
-v 0.56796233 0.43250237 0.32837050
-v 0.57395955 0.43726970 0.32469756
-v 0.60660716 0.43269806 0.31248077
-v 0.59422447 0.43805245 0.31463995
-v 0.61621090 0.42143933 0.31367412
-v 0.61927592 0.42136848 0.32090855
-v 0.62001153 0.41203962 0.32170722
-v 0.57954811 0.41001865 0.35265085
-v 0.56782440 0.41001865 0.35265085
-v 0.56863663 0.43579193 0.34320617
-v 0.57080769 0.43814692 0.33226631
-v 0.58273063 0.44155120 0.32295629
-v 0.60557016 0.43857541 0.31932514
-v 0.61479588 0.43015076 0.32120573
-v 0.59483747 0.44325164 0.32363422
-v 0.61714062 0.42135161 0.32623917
-v 0.57872567 0.42635849 0.35265085
-v 0.57284593 0.43183097 0.35230260
-v 0.57939486 0.44162542 0.33820058
-v 0.58913142 0.44448649 0.32971708
-v 0.60269926 0.44230695 0.32753004
-v 0.60817543 0.43715837 0.32831942
-v 0.59736611 0.43770831 0.33879494
-v 0.58224534 0.43297472 0.34903364
-v 0.58592847 0.43882845 0.34340119
-v 0.59326920 0.44252625 0.33591603
-v 0.59616054 0.43987774 0.33759694
-f 1 2 3
+v 0.07997412 -0.04340990 -0.03929134
+v 0.07997412 -0.03922806 -0.04599664
+v 0.07997412 -0.03855439 -0.06430760
+v 0.08142926 -0.05211040 -0.06011372
+v 0.08155437 -0.05431572 -0.05275912
+v 0.08192639 -0.05204049 -0.04125556
+v 0.08997909 -0.04783324 -0.04555969
+v 0.11042362 0.01060442 -0.06146948
+v 0.10349026 0.01060442 -0.06267006
+v 0.09861123 0.01060442 -0.06786851
+v 0.07997412 -0.03723883 -0.05530321
+v 0.09663262 0.01060442 -0.07640737
+v 0.08197577 -0.04739472 -0.06563478
+v 0.10184416 0.00843724 -0.08100552
+v 0.09283672 -0.03409292 -0.07420221
+v 0.08887950 -0.04318110 -0.06877508
+v 0.09079556 -0.04870392 -0.05952159
+v 0.08852065 -0.05141767 -0.05262027
+v 0.09514126 -0.04351794 -0.04937380
+v 0.10696023 -0.02709565 -0.05753287
+v 0.11281376 0.00107772 -0.06356029
+v 0.11360718 0.00797330 -0.06851373
+v 0.10969275 0.00678484 -0.07500260
+v 0.10053387 -0.01400994 -0.07868194
+v 0.09892399 -0.02832860 -0.07471674
+v 0.09982605 -0.03739136 -0.06772967
+v 0.09674126 -0.04384206 -0.06074668
+v 0.10330590 -0.03538941 -0.05796982
+v 0.10565653 -0.02998735 -0.06505898
+v 0.10965325 -0.02006661 -0.06180842
+v 0.10746065 -0.01445481 -0.07293220
+v 0.10549850 -0.02305364 -0.07178470
+f 1 2 11
+f 1 11 3
f 1 3 4
f 1 4 5
f 1 5 6
f 1 6 7
-f 1 7 2
-f 2 8 3
-f 2 7 9
-f 2 9 8
-f 3 10 4
-f 3 8 10
-f 4 11 12
-f 4 12 13
-f 4 13 5
-f 4 10 11
-f 5 13 14
-f 5 14 6
-f 6 14 15
-f 6 15 16
-f 6 16 7
-f 7 16 17
-f 7 17 9
-f 8 18 19
-f 8 19 10
-f 8 9 18
-f 9 17 20
-f 9 20 18
-f 10 19 11
-f 11 19 21
-f 11 21 12
-f 12 21 13
-f 13 22 14
-f 13 21 22
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 12
+f 2 12 11
+f 3 13 4
+f 3 11 12
+f 3 12 14
+f 3 14 15
+f 3 15 13
+f 4 13 16
+f 4 16 17
+f 4 17 5
+f 5 17 18
+f 5 18 6
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 8 21 22
+f 8 22 14
+f 8 14 12
+f 8 12 10
+f 8 10 9
+f 13 15 16
f 14 22 23
-f 14 23 15
-f 15 23 24
-f 15 24 16
-f 16 24 25
-f 16 25 17
-f 17 25 20
-f 18 20 26
-f 18 26 19
-f 19 26 27
-f 19 27 21
-f 20 25 26
-f 21 28 22
-f 21 27 28
-f 22 28 29
-f 22 29 23
-f 23 29 30
-f 23 30 24
-f 24 30 31
-f 24 31 25
-f 25 31 26
-f 26 31 32
-f 26 32 27
-f 27 32 28
-f 28 32 30
-f 28 30 29
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 17
+f 17 27 18
+f 17 26 27
+f 18 27 19
+f 19 27 28
+f 19 28 20
+f 20 29 30
+f 20 30 21
+f 20 28 29
+f 21 30 22
+f 22 30 31
+f 22 31 23
+f 23 31 24
+f 24 31 32
+f 24 32 25
+f 25 32 26
+f 26 32 29
+f 26 29 27
+f 27 29 28
+f 29 32 30
f 30 32 31
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/5.obj b/processed/gigahand/assets/objects/p36-tea/convex/5.obj
index a1dbc84bb3491433803d0c0432fc1dac05ada883..e25478d66e5fd30fa2b7ceafc9d8cacc55d872b5 100644
--- a/processed/gigahand/assets/objects/p36-tea/convex/5.obj
+++ b/processed/gigahand/assets/objects/p36-tea/convex/5.obj
@@ -1,94 +1,94 @@
# https://github.com/mikedh/trimesh
-v 0.39170263 0.44564005 0.44844925
-v 0.39229253 0.44251490 0.45876109
-v 0.40220497 0.44723787 0.46377152
-v 0.39871296 0.45063324 0.44213141
-v 0.41361321 0.39019803 0.42403885
-v 0.40789856 0.38956361 0.43232579
-v 0.40666608 0.38387725 0.44231078
-v 0.41037403 0.38105756 0.44976863
-v 0.41244922 0.38774256 0.45591109
-v 0.41660485 0.44815427 0.45748955
-v 0.41053204 0.45465128 0.44887576
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diff --git a/processed/gigahand/assets/objects/p36-tea/convex/6.obj b/processed/gigahand/assets/objects/p36-tea/convex/6.obj
index 0b16a7b4aaee565f17dc827df949bc00086c6f46..ec1d0deb5092dcd46f8ccd654d85f38b8d205cf0 100644
--- a/processed/gigahand/assets/objects/p36-tea/convex/6.obj
+++ b/processed/gigahand/assets/objects/p36-tea/convex/6.obj
@@ -1,94 +1,94 @@
# https://github.com/mikedh/trimesh
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diff --git a/processed/gigahand/assets/objects/p36-tea/convex/7.obj b/processed/gigahand/assets/objects/p36-tea/convex/7.obj
index 88d123aa0ebc432ff09678e587a85f6bbc5cbff3..49759294bc8e25887f73793ab7252702fd98f3d6 100644
--- a/processed/gigahand/assets/objects/p36-tea/convex/7.obj
+++ b/processed/gigahand/assets/objects/p36-tea/convex/7.obj
@@ -1,94 +1,94 @@
# https://github.com/mikedh/trimesh
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f 1 2 3
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diff --git a/processed/gigahand/assets/objects/p36-tea/visual.obj b/processed/gigahand/assets/objects/p36-tea/visual.obj
index ca23fb897ee069e9fc16a74c65d9fecba4e0e38b..16a71c223feac37cca955e0f64dd7944610ca19f 100644
--- a/processed/gigahand/assets/objects/p36-tea/visual.obj
+++ b/processed/gigahand/assets/objects/p36-tea/visual.obj
@@ -11,12506 +11,12506 @@
####
mtllib ./visual.obj.mtl
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# 6250 vertices, 0 vertices normals
diff --git a/processed/gigahand/assets/robots/allegro/MUJOCO_LOG.TXT b/processed/gigahand/assets/robots/allegro/MUJOCO_LOG.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..d6fb0e5413262109f2f4173c653ca82fb180d490
--- /dev/null
+++ b/processed/gigahand/assets/robots/allegro/MUJOCO_LOG.TXT
@@ -0,0 +1,3 @@
+Sun Aug 17 16:09:37 2025
+ERROR: could not initialize GLFW
+
diff --git a/processed/gigahand/assets/robots/allegro/left.xml b/processed/gigahand/assets/robots/allegro/left.xml
index f290eafa30f50a2564afe6fb002b173b7f72407f..73da52ffa6fa1447c3d76d89690e870def83c6b2 100644
--- a/processed/gigahand/assets/robots/allegro/left.xml
+++ b/processed/gigahand/assets/robots/allegro/left.xml
@@ -80,11 +80,11 @@
-
+
-
+
diff --git a/processed/gigahand/assets/robots/allegro/right.xml b/processed/gigahand/assets/robots/allegro/right.xml
index 21352439ac36c19af0fb37918cfb223d1d9cef17..55f90f1df829cf4cb664ec0765e8bc0ada623750 100644
--- a/processed/gigahand/assets/robots/allegro/right.xml
+++ b/processed/gigahand/assets/robots/allegro/right.xml
@@ -80,11 +80,11 @@
-
+
-
+
diff --git a/processed/gigahand/mano/bimanual/p36-tea/10/trajectory_kinematic.npz b/processed/gigahand/mano/bimanual/p36-tea/10/trajectory_kinematic.npz
index 3e749f79857241685fd8651049f80ccf0ddd875c..8002ddb87391b7ae03fa862a7df4501b02c82e76 100644
--- a/processed/gigahand/mano/bimanual/p36-tea/10/trajectory_kinematic.npz
+++ b/processed/gigahand/mano/bimanual/p36-tea/10/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:20c540a8958def87e93afba24f0a19456dc904c5cbf3a5a5e8b54c6f6e49fe72
+oid sha256:cb490de031b2cadae97976da0f93d58f849622b1f010703b07f71f3db4b9b87d
size 298368
diff --git a/processed/gigahand/mano/bimanual/p36-tea/task_info.json b/processed/gigahand/mano/bimanual/p36-tea/task_info.json
index 374592f2fc9f27e752a097d10ef3359b439fbc7a..d9f7ee47a0a9ca81410b0fe9aeb3deb4ac35d10c 100644
--- a/processed/gigahand/mano/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/mano/bimanual/p36-tea/task_info.json
@@ -6,5 +6,6 @@
"data_id": 10,
"right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p36-tea",
"left_object_mesh_dir": null,
+ "ref_dt": 0.02,
"right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p36-tea/convex"
}
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
index 4cbf7c0a0aa334ae3c3ac68605a05371899bb952..9cee03f4d36fbaf2d867a7c8b681c60b5e3ec6f3 100644
--- a/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
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-size 2483292
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+size 2437692
diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz
index 246065759073203e4ca8279f6a1c99bb33a38bce..3f6ecf7084f079d65a00c19ef37ae39f66e5ac91 100644
--- a/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/visualization_mjwp.mp4 b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e5d11c9b1fca68c5d38395d5a84eccf1e023c184
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e22e9b1357e5aa671a921e6edb99f7fb0f74318f7ef985b74f50a6d673dd8786
+size 2936816
diff --git a/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_kinematic.npz
index 51ba217de3f42170870445375d3cca7c73a90a46..1d58de8a8b29628f97523dc897fd2ba9846f14b0 100644
--- a/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_kinematic.npz
+++ b/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:44251eb6d229d93043fe5721cd173d3857c377c1c9ab9a07599468cabc7af988
-size 1146156
+oid sha256:3d21fb73638d078b38d5218b1e58390b5d2633908bd91c942576d7f620ab63f8
+size 1137036
diff --git a/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_mjwp.npz b/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ab1e19f91f7d58cdea3814c325a5b5e3f3489266
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:945fc201f13fe2501073f00ec5e5de1a97b572c8a7893286e121c928d1e04850
+size 1969834
diff --git a/processed/oakink/allegro/bimanual/pour_tube/0/visualization_mjwp.mp4 b/processed/oakink/allegro/bimanual/pour_tube/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b9ea33820e4f17794f9ade053bc76d95eacc5689
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pour_tube/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84b6c2f025a14b7f77e67960ef980a965c11be4561fba8d8eb2b78eb2480f798
+size 1327255
diff --git a/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_kinematic.npz
index 1ce40a4e74aa37f93545b3c8aef389f23e2caad2..80bd83106eee7fa92f3f409d93a0dfafe161e445 100644
--- a/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_kinematic.npz
+++ b/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:6a998ebbdf6ff4b4c4181fd1e05ebdddbd9c8adf0088457ab9972693c55ed405
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size 491116
diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/3.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/3.obj
index fa54edd9bfc34423b3c2ea95052610376d6c93d7..e202f47c2d2ab6c5f678b767f03f619e877246ce 100644
--- a/processed/oakink/assets/objects/O02@0011@00003/convex/3.obj
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/3.obj
@@ -1,94 +1,88 @@
# https://github.com/mikedh/trimesh
-v 0.02939425 -0.00182930 -0.04837233
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-v 0.03114746 0.00574173 -0.04730116
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f 1 2 3
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diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/4.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/4.obj
index 52aaf4fa5f798d51d7c0f38010a29782c8efe0b7..b2d4c749adb9bdbb949d5768e33d8ff043b330d7 100644
--- a/processed/oakink/assets/objects/O02@0011@00003/convex/4.obj
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/4.obj
@@ -1,94 +1,91 @@
# https://github.com/mikedh/trimesh
-v 0.02330167 -0.02887807 0.04832411
-v 0.02861760 -0.02537558 0.04829548
-v 0.03626284 -0.00561815 0.04912549
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-v 0.03625884 -0.00959717 0.04825732
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-v 0.03553218 -0.00183239 0.03450019
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-v 0.03145623 -0.01457161 -0.04537135
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f 1 2 3
f 1 3 4
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f 1 5 6
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diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/5.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/5.obj
index b2d4c749adb9bdbb949d5768e33d8ff043b330d7..a2f543b6359ae7cbe8fbc16fbb5727c750578df5 100644
--- a/processed/oakink/assets/objects/O02@0011@00003/convex/5.obj
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/5.obj
@@ -1,91 +1,91 @@
# https://github.com/mikedh/trimesh
-v 0.00510792 -0.04278078 0.04208372
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f 1 2 3
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diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/6.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/6.obj
index a2f543b6359ae7cbe8fbc16fbb5727c750578df5..fa54edd9bfc34423b3c2ea95052610376d6c93d7 100644
--- a/processed/oakink/assets/objects/O02@0011@00003/convex/6.obj
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/6.obj
@@ -1,91 +1,94 @@
# https://github.com/mikedh/trimesh
-v 0.02139502 0.02293446 0.02827412
-v 0.02139035 0.02418042 0.04206047
-v -0.02437190 0.02247480 0.03923710
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-v -0.00987070 0.02962561 -0.04577558
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-v 0.01034025 0.03115444 -0.04069541
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+v 0.03194329 0.01912072 0.04746845
+v 0.02789781 0.01935230 -0.03700074
f 1 2 3
f 1 3 4
f 1 4 5
-f 1 5 2
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f 21 29 22
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diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/7.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/7.obj
index e202f47c2d2ab6c5f678b767f03f619e877246ce..52aaf4fa5f798d51d7c0f38010a29782c8efe0b7 100644
--- a/processed/oakink/assets/objects/O02@0011@00003/convex/7.obj
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/7.obj
@@ -1,88 +1,94 @@
# https://github.com/mikedh/trimesh
-v 0.02273200 -0.02558849 0.04402366
-v 0.02273200 -0.02530606 0.04024488
-v -0.00489409 -0.03504508 0.03116480
-v -0.00489409 -0.03641920 0.03606254
-v 0.02272118 -0.02761762 0.04780245
-v 0.02273200 -0.02649389 -0.04425492
-v 0.02273200 -0.02541422 0.02419423
-v -0.00489409 -0.03455232 0.01405939
-v -0.00489409 -0.03483275 0.02649635
-v -0.00489409 -0.04278302 0.04207924
-v 0.01246686 -0.03566404 0.04869211
-v 0.02207217 -0.03060623 0.04944420
-v 0.01666107 -0.03282566 -0.04345698
-v 0.01120130 -0.03525741 -0.04371379
-v 0.00096862 -0.03716635 -0.04285164
-v 0.02207758 -0.02919205 -0.04269572
-v 0.00155002 -0.04576963 0.04308814
-v 0.00494379 -0.04329381 0.04541778
-v 0.00905957 -0.03855249 0.04801340
-v 0.01607156 -0.03518930 0.04910484
-v 0.01886500 -0.03369700 0.04912318
-v 0.02178553 -0.03012549 -0.03796307
-v 0.01994938 -0.03086463 -0.04274158
-v 0.01897587 -0.03198436 -0.04026519
-v 0.01651234 -0.03352073 -0.03999921
-v 0.01377299 -0.03477066 -0.04120989
-v 0.00696382 -0.03675171 -0.04209038
-v 0.00459494 -0.03696404 -0.04318182
-v 0.01930308 -0.03196633 -0.03699086
-v 0.01036841 -0.03870072 0.04809594
+v 0.02330167 -0.02887807 0.04832411
+v 0.02861760 -0.02537558 0.04829548
+v 0.03626284 -0.00561815 0.04912549
+v 0.03450286 -0.00193829 0.04753226
+v 0.02273368 -0.02557149 0.04401188
+v 0.02264301 -0.02348535 -0.04791861
+v 0.02364700 -0.02736906 -0.04336788
+v 0.02418966 -0.02799649 -0.03817795
+v 0.03169223 -0.02062617 0.04803789
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+v 0.03625884 -0.00959717 0.04825732
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+v 0.03383620 -0.00856204 -0.04334880
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f 1 2 3
f 1 3 4
f 1 4 5
f 1 5 6
f 1 6 7
-f 1 7 2
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+f 1 7 8
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f 2 9 3
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diff --git a/processed/oakink/mano/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz b/processed/oakink/mano/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
index d8ad282795a2787287b15f13eafffb4a1305071c..93fc75c630b565acf764fd1a9ef4ecef12ff82a2 100644
--- a/processed/oakink/mano/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
+++ b/processed/oakink/mano/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:96d03fce9ba032a26e4bcafbf0ebb7f479612f5c530f170068b08bd7d0b84638
+oid sha256:fe0d8e9f897ca61125b3b6f8d7e0ca81dd50188b35ad2bfcfebadd8435c2ffdb
size 1509696
diff --git a/processed/oakink/mano/bimanual/pick_spoon_bowl/0/task_info.json b/processed/oakink/mano/bimanual/pick_spoon_bowl/task_info.json
similarity index 100%
rename from processed/oakink/mano/bimanual/pick_spoon_bowl/0/task_info.json
rename to processed/oakink/mano/bimanual/pick_spoon_bowl/task_info.json
diff --git a/processed/oakink/mano/bimanual/wipe_board/0/trajectory_kinematic.npz b/processed/oakink/mano/bimanual/wipe_board/0/trajectory_kinematic.npz
index 57e21a12a6bed84109a245ba05dc63a04310e83b..3e0f223deeff52b5dea46288ac8c8be0ac88b85b 100644
--- a/processed/oakink/mano/bimanual/wipe_board/0/trajectory_kinematic.npz
+++ b/processed/oakink/mano/bimanual/wipe_board/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:97e2093278c9b56840b4b1956dbb713e3b182637e8588c2839a16162c4dd58d0
-size 272076
+oid sha256:11519dabfec7dbe8dee3d4c77794f03339c0eb84d3cdf3b40890dc84221c0ec4
+size 300960